Improved vehicle operation area detection

Abstract

The present disclosure relates to a vehicle device and related method of vehicle control, the vehicle device including a memory that stores area map data indicating one or more operational areas, a vehicle sensor that acquires vehicle position data from one or more location beacons, and a controller that analyzes the vehicle position data while in communication with the sensor and compares the vehicle position data with the area map data stored in the memory, wherein the controller, when determining that the vehicle is entering one of the one or more operational areas, adjusts vehicle operating parameters based on one or more operating rules associated with the operational area into which the vehicle is entering.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and the benefit of U.S. Provisional Application No. 61 / 980,818, filed February 24, 2020, the disclosure of which is incorporated herein by reference in its entirety. [Background technology]

[0002] Personal mobility vehicles (PMVs) are classified as transportation vehicles specialized for quick trips over short to medium distances, for example, 0.5 to 3 miles. Most PMVs are electric vehicles designed for one person, such as electric scooters, electric skateboards, or electric bicycles. PMVs may be particularly useful in urban environments, allowing for quick travel between large transportation hubs and residential, workplace, entertainment, and commercial areas.

[0003] The operation of PMVs in densely populated areas may cause negative interactions between PMV users and other groups, such as car drivers or pedestrians, such as accidents, injuries, and congestion. To avoid these negative interactions, some areas or zones may prohibit the use of PMVs, limit their speed, or prohibit operation through local ordinances or other measures for safety reasons. To operate PMVs according to the locally defined and regulated operating zones, it is very important to accurately and quickly detect the entry and exit of PMVs into various zones.

[0004] Therefore, incorporating a system into a PMV to improve operational area detection during operation could be beneficial. Summary of the Invention

[0005] This disclosure provides systems and methods for improving detection of personal mobility vehicle (PMV) entry and exit into an operational area.

[0006] The disclosed systems and methods may be particularly effective in areas with high PMV usage, and may assist PMV operators and local governments in enforcing various operating zones, especially those related to local road safety regulations. The disclosed systems and methods may contribute to reducing PMV / vehicle, PMV / pedestrian, PMV / PMV, or PMV-only accidents. [Brief description of the drawings]

[0007] [Figure 1] 1 shows an exemplary system that can detect entry and exit of a PMV's operating area with greater accuracy. [Diagram 2] A flowchart is shown below that enables detection of entry and exit of PMV operation areas with higher accuracy. [Diagram 3] 1 illustrates an example PMV with detailed descriptions of example elements. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] This disclosure provides systems and methods for improving detection of personal mobility vehicle (PMV) entry and exit into an operating area. In some cases, it may be advantageous to limit maximum operating speeds in areas with high pedestrian density / traffic volume or poor road conditions to minimize the possibility of accidents or encounters between pedestrian vehicles. In other cases, local regulations may prohibit operation of PMVs. In other cases, such restrictions or prohibitions may be imposed on a temporary or planned basis.

[0009] PMVs may be considered a specialized form of transportation for short to medium distances. In most cases, they are electrically powered, wheeled, mobile devices with a range of travel from a few city blocks to several miles. PMVs are often provided on shared networks that allow users to obtain the PMV's current location via a mobile app and use it to travel from the current location to a nearby second location (or, in some cases, multiple consecutive locations). The PMV may then be left at the second location until the next user can use it. PMV networks are becoming increasingly common in urban areas where the use of PMVs can coexist with local road congestion and heavy traffic. In many cases, it may be effective to limit the maximum speed of PMVs in some areas.

[0010] FIG. 1 illustrates an exemplary system (100) for a typical metropolitan area with improved detection of PMV entry and exit into an operational area. According to some embodiments of the present disclosure, a user may use a PMV (110), illustratively depicted here as a scooter, for transportation. The PMV (110) may include a sensor that collects PMV location data from a location beacon (120) periodically, for example, every X seconds. This X seconds may be referred to as a periodic interval. Such periodic interval may be pre-set by the system configuration or may be dynamic. The sensor may also passively receive PMV location data according to the configuration and type of various location beacons (120). Such passive reception may also occur periodically, for example, every X seconds. The X second interval may be configurable by the control. The controller of the PMV (110) may analyze area map data stored in memory, for example, area definitions defined by a set of polygon coordinates, along with the location data to determine if the PMV (110) has entered or exited a particular operational area, such as Area A shown in FIG. 1. In some embodiments, this analysis may include comparing stored location data to a current location. If the controller of the PMV (110) determines that the PMV (110) has entered or exited a particular zone, the controller may adjust operational parameters of the PMV based on operational rules associated with the particular zone, e.g., Zone A. If it is determined that no zone entry or exit occurred, the sensors of the PMV (110) continue to obtain location data and the controller continues to determine whether zone entry or exit has occurred.

[0011] In some embodiments, when the controller of the PMV (110) determines that the PMV (110) has entered or exited a particular zone, the communications circuitry of the PMV (110) may transmit a zone event message over the network (130) to the server (140), which may include information about which zone the PMV (110) has entered or exited. The server (140) may determine an operating rule associated with the entry or exit of zone A based on the zone event message. The server (140) may then transmit a confirmation to the PMV (110) that includes the operating rule associated with the entry or exit of zone A. The PMV (110) may then receive the operating rule and adjust its operating parameters based on the received operating rule. If the server (140) determines that the PMV (110) has erroneously detected an entry or exit from zone A due to outdated data in the PMV (110) or an error in the location data associated with the PMV (110) by the server (140), the server (140) may send an override message to the PMV (110) so that the data in the PMV (110) can be corrected as necessary. In one embodiment, the server (140) may make this determination by comparing polygon coordinates associated with the operational zone determined in the zone map data with polygon coordinates associated with the operational zone determined by the server.

[0012] In some embodiments, the zone map data and operating rules are stored in the memory of the PMV (110), and a controller of the PMV (110) determines whether the PMV (110) has entered or exited zone A, and if so, which operating rules are associated with the zone A entry / exit event. The controller may then adjust operating parameters based on the operating rules associated with the entry / exit into zone A. In this case, the server (140) may verify whether the entry / exit detected by the PMV (110) is valid based on the zone event detection message. If the server (140) determines that the PMV (110) has detected an entry / exit into the zone is erroneous, either because the zone data in the PMV (110) is out of date or because the server (140) has detected an error in the location data in the PMV (110) associated with it, the server (140) may send an override message to the PMV (110) so that the data in the PMV (110) can be corrected as necessary.

[0013] In some embodiments, the server (140) may periodically send updated zone map data or operating rules to the PMV (110) for storage in the PMV's (110) memory. The PMV (110) may store different combinations of zone map data and operating rules based on various geographic base locations in the regions in which they each operate, thereby preventing excessive storage of zone data or operating rules. For example, a typical PMV may be generally configured to operate near a limited number of downtown areas in close proximity to one another, such that the PMV does not need to store zone data or operating rules outside of this general designated area.

[0014] In some embodiments, the location beacons (120) may include GPS-type signals broadcast by global positioning satellites (GPS). The location beacons may also include short-range location beacons such as Wi-Fi stations, radio towers, Bluetooth beacons, RFID repeaters, laser beacons, and the like.

[0015] In some embodiments, the area map data may include a set of location coordinates of vertices of polygons on a map, or alternatively, the area map data may include road or lane coordinates, since operational areas are typically defined by particular sections of road.

[0016] In some embodiments, the operational parameters of the PMV (110) that are adjusted may include the maximum speed of the PMV (110). If operation of the PMV (110) is prohibited in a particular area, the maximum speed may be set to zero to prevent movement of a powered vehicle. Meanwhile, some areas may allow the PMV (110) to be pushed manually. Other areas may require the PMV (110) to be locked to prevent any movement. Some areas may require the PMV (110) passing through the area to emit a warning light or sound to the user and others in the vicinity for a certain period of time. Some areas may prohibit users from stopping or parking the PMV (110) in the area, and the PMV (110) may issue a warning to users not to stop or park in the area.

[0017] FIG. 2 illustrates, in a flow chart diagram, a method for improving detection of entry and exit of PMVs into an operational area.

[0018] At block (210), a user may be using a PMV for transportation.

[0019] At block 220, the PMV 110 may include sensors that obtain location information of the PMV 110 from various location beacons 120 periodically, for example, every X seconds, where the X second interval may be adjustable by a control.

[0020] At block 230, the controller of the PMV 110 may analyze area map data stored in memory along with the location data, such as area definitions defined by polygon coordinates.

[0021] At block (240), the controller may determine whether the PMV (110) has entered or exited a particular operational area, such as area A.

[0022] If the controller of the PMV (110) determines that the PMV (110) has entered or exited a particular zone at block (250), the controller may adjust operational parameters of the PMV (110) based on operational rules associated with entering or exiting a particular zone, such as Zone A. Implementations of operational parameters may include changing speed, adjusting lighting such as headlights, adjusting audio output such as a horn, issuing warnings to the user, and disabling devices outside the operating zone.

[0023] If no zone entry or exit is detected, the PMV (110) sensors continue to obtain position data at block (220) and the controller continues to determine whether zone entry or exit has occurred at block (230).

[0024] 3 illustrates an exemplary PMV embodiment (300) described in this disclosure. The PMV (300) may include a motor (310) that draws energy from an energy capacity (320) to drive a number of tires (340) of the PMV (300) and a steering (350) that allows directional control of the PMV (300). The PMV (300) may further include sensors (360) connected to the controller (330) and a memory (380) that stores various area map data, area operating rules, etc. The PMV (300) may include communication circuitry for wirelessly communicating with a network and a server.

[0025] In some embodiments, the PMV (300) may be associated with a mobile device, such as a mobile phone or tablet computer. The mobile device may include one or more sensors that enable data collection, such as an accelerometer, gyroscope, microphone, camera, and compass. The mobile device may be capable of wireless data transmission.

[0026] The gyroscope may be disposed on the PMV 300. In these embodiments, the motion vector in the sensor data may be an angular rate vector, and the magnitude of the motion vector may correspond to the magnitude of the angular rate vector. The angular rate vector may be composed of multiple angular rate components measured along different axes of the gyroscope.

[0027] The PMV (300) may include a direction detection sensor, such as a compass or a two-axis or three-axis magnetometer. A magnetometer is a type of sensor that can measure the direction and / or strength of a nearby magnetic field. Examples of magnetometers include solid-state Hall effect sensors, which generate a voltage proportional to an applied magnetic field and can be used to sense the polarity of the magnetic field. Another example of a magnetometer is a fluxgate magnetometer.

[0028] From sensor data such as the magnetometer output, and possibly the accelerometer output, the mobile terminal processor can calculate a magnetic heading, which refers to the orientation of the device relative to the magnetic meridian that represents the direction to the Earth's magnetic poles. Other sensor data, such as from gyroscope data or other angular rate sensors, can also be used to filter compass errors, if present. After the magnetic heading is determined, the magnetic heading value can be converted to a true heading value relative to a geographic meridian using a magnetic declination table.

[0029] A mobile terminal may integrate an electric-magnetic compass, such as a magnetometer, as an aid in location determination or navigation applications. For example, a mobile terminal may implement a "point and click" application, where a user points the device at a particular object, and the terminal software identifies the object using a determined or known position, time, orientation, and a map database.

[0030] The PMV (300) may include one or more LIDAR units. The LIDAR unit may be a single channel LIDAR. The LIDAR unit may be one or more scanning LIDARs. The LIDAR unit may illuminate a target or detectable area with laser light. The LIDAR unit may be capable of backscatter detection. The light may include ultraviolet, visible, and / or near infrared light to image the surrounding environment. The LIDAR unit may be capable of detecting various types of materials. For example, it may detect metallic or non-metallic objects, precipitation, certain aerosols, clouds, or molecules. In some embodiments, the LIDAR unit may operate at high resolution. Any type of LIDAR may be used, such as Rayleigh LIDAR, Mie LIDAR, Raman LIDAR, Na / Fe / K LIDAR, etc. In some embodiments, the LIDAR unit need not be mechanically scanned. For example, the LIDAR unit may include a phased array LIDAR integrated on a microchip. Phased array LIDAR includes advantages such as low cost, light weight, small size, and fewer mechanical parts compared to scanning LIDAR systems. Phased-array LIDAR is also more robust because its components are integrated onto a microchip and have fewer moving parts.

[0031] One or more cameras may be implemented on the PMV (300). The cameras may collectively form a visual sensing system. Multiple cameras may be provided. The cameras may be capable of collecting image data for environmental sensing. The cameras may be of the same type or different types. In some embodiments, the cameras may include stereo cameras. Optionally, the cameras may include one or more monocular cameras. In some embodiments, a combination of stereo and monocular cameras may be provided. The cameras may include black and white cameras. In some embodiments, the cameras may include color cameras. Any description herein may apply to any visual sensor and may be interchangeably referred to as an imaging device, which are described below as examples.

[0032] The imager may be a physical imager. The imager may be configured to detect electromagnetic radiation (e.g., visible light, infrared, and / or ultraviolet, etc.) and generate image data based on the detected electromagnetic radiation. The imager may include a charge-coupled device (CCD) sensor or a complementary metal-oxide semiconductor (CMOS) sensor that generates electrical signals corresponding to wavelengths of light. The resulting electrical signals may be processed to generate image data. The image data generated by the imager may include one or more images, and the images may be still images (e.g., photographs, etc.), dynamic images (e.g., video, etc.), or any suitable combination thereof. The image data may be polychromatic (e.g., RGB, CMYK, HSV, etc.) or monochromatic (e.g., grayscale, black and white, sepia, etc.). The imager may include a lens configured to direct light to the image sensor.

[0033] The imaging device may be a camera. The camera may be a video or video camera that captures dynamic image data (e.g., video). The camera may be a still camera that captures static images (e.g., photographs). The camera may capture both dynamic image data and still images. The camera may alternate between capturing dynamic image data and still images. It should be understood that although the specific examples referred to in this disclosure are described with a camera in mind, this disclosure may apply to any suitable imaging device, and any description in this disclosure of a camera may also apply to other types of imaging devices. The camera may be used to generate a 2D image of a 3D scene (e.g., an environment, one or more objects, etc.). The image generated by the camera may represent a projection of the 3D scene onto a 2D image plane. Thus, each point in the 2D image corresponds to a 3D spatial coordinate within the scene. The camera may include optical elements (e.g., lenses, mirrors, filters, etc.). The camera may capture color images, grayscale images, infrared images, etc. The camera may be an infrared imaging device when configured to capture infrared images.

[0034] The PMV may be equipped with a proximity sensor. The proximity sensor may use one or more physical phenomena, such as electromagnetic or ultrasonic phenomena, to determine the distance between the object and the sensor. The proximity sensor may include a capacitive sensor, a capacitive displacement sensor, a Doppler effect sensor, an eddy current sensor, an inductive sensor, a magnetic sensor, a photoelectric sensor, a photocell sensor, a laser range finder, a passive thermal infrared sensor, an ionizing radiation sensor, a sonar sensor, an ultrasonic sensor, a fiber optic sensor, or a Hall effect sensor. The proximity sensor may have the ability to detect objects at various distances. In some examples, the proximity sensor may be able to detect objects at distances of 500 ft, 100 ft, 10 ft, 1 ft, 10 centimeters (cm), or 1 cm or less.

[0035] In some embodiments, the PMV may include one or more inertial measurement units (IMUs) capable of detecting the acceleration and rotation of the PMV. Based on information generated by the IMUs, the computer terminal may determine in which operational area the PMV is traveling.

[0036] In some embodiments, the PMV may include one or more sensors to detect nearby objects. For example, the PMV may include a proximity sensor to detect vertical structures, such as the walls of a building. The collected proximity sensor data may be used to determine the distance from the PMV to a building, which may be an indication of which road the PMV is traveling on.

[0037] In some embodiments, the PMV may include sensors configured to detect magnetic fields generated by buildings as landmarks near particular roads. As the PMV moves, changes to the detected magnetic fields may indicate which road the PMV is moving on. For example, sensors on a scooter may manipulate the magnetic field to create a unique signature.

[0038] Examples of other sensors that may be mounted on the PMV (300) may include any of the following: position sensors (e.g., Global Positioning System (GPS) sensors, mobile device transmitters enabling triangulation of position, etc.), visual sensors (e.g., imaging devices capable of detecting visible, infrared, or ultraviolet light, such as cameras), proximity sensors (e.g., ultrasonic sensors, lidar, time-of-flight cameras, etc.), inertial sensors (e.g., acceleration sensors, gyroscopes, inertial measurement units (IMUs), etc.), altitude sensors, pressure sensors (e.g., barometers, etc.), audio sensors (e.g., microphones, etc.), and field sensors (e.g., geomagnetic sensors, electromagnetic sensors).

[0039] Sensors may have various detection ranges. The detectable range of a sensor may include an area associated with the sensor from which the sensor can collect data. The detectable range may include a distance range and / or a direction. For example, the detectable range may include a maximum distance and / or a minimum distance readable by the sensor. The minimum distance may be zero. The maximum distance may or may not be affected by environmental conditions (e.g., temperature, airborne particles, precipitation, air pressure, noise, etc.). The direction may include an angular range. For example, a sensor may have a field of view over an angular range. Different sensors may have different or the same detectable ranges.

[0040] In some embodiments, the PMV (300) may include one or more positioning sensors (e.g., Global Positioning System (GPS) sensors, etc.), alone or in combination with an Inertial Measurement Unit (IMU). Based on the positioning sensors and / or the IMU sensors, the geographic location of the PMV may be determined. The accuracy of the geographic location of the PMV may be determined by the quality and accuracy of the GPS signal. In some cases, a high-precision positioning sensor, such as a real-time kinematic (RTK) GPS, may be used with very precise positioning (e.g., centimeter-level positioning).

[0041] The methods disclosed herein may be implemented by machine (e.g., computer processor) executable code stored in electronic storage of a computer system. The machine executable or machine readable code may be provided in the form of software. In use, the code may be executed by a processor. The code may be pre-compiled and configured for use on a machine having a processor adapted to execute the code, or may be compiled on the fly. The code may be provided in a programming language selected such that the code is pre-compiled or compiled on the fly.

[0042] Elements of the systems and methods provided in this disclosure may be implemented by programming. Any element of technology may be considered as a "product" or "article of manufacture," usually in the form of machine (or processor) readable code and / or associated data carried or embodied by some type of machine readable medium. The machine executable code may be stored in electronic storage devices such as memory (e.g., read-only memory, random access memory, flash memory, etc.) or hard disks. A "storage" type medium may include any or all of the tangible memory of a computer, processor, etc., or associated modules such as various semiconductor memories, tape drives, disk drives, etc., which may provide non-transitory storage capacity for software programming at any time. All or a portion of the software may communicate over the Internet or various other telecommunications networks at times. These communications may allow, for example, loading from one computer or processor to another computer or processor, such as a management server or host computer to a computer platform in an application server. Thus, other media that may bear the above-mentioned software elements include light waves, radio waves, and electromagnetic waves used on the physical interfaces between local devices over wired and optical fixed line networks and various air links. Such physical elements that transmit waves, such as wired and wireless links, optical links, etc., may also be considered as media containing software. In this disclosure, unless limited to transitory, tangible "storage" media, terms such as computer or machine "readable media" refer to any medium involved in transmitting instructions to a processor for execution. Thus, machine-readable media such as computer executable code may take a variety of forms, including but not limited to tangible storage media, carrier wave media, or physical transmission media. Non-volatile storage media include any storage media, such as any computer, such as optical or magnetic disks, such as may be used to implement a database, such as shown in the drawings. Volatile media include dynamic memory, such as the primary memory on a computer platform.Tangible transmission media include coaxial cables, copper wire and fiber optics, including the wires that make up a bus in a computer system. Carrier wave transmission media may take the form of electric or electromagnetic signals, or sound or light waves such as those generated during radio frequency (RF) and infrared (IR) data communications. Thus, common forms of computer readable media include, for example, a floppy disk, a flexible disk, a hard disk, a magnetic tape, any other magnetic medium, a CD-ROM, a DVD or a DVD-ROM, any other optical medium, punch cards paper tape, any other regularly-perforated physical storage capacity, a RAM, a ROM, a PROM, an EPROM, a FLASH-EPROM, any other memory chip or cartridge, a carrier wave transmitting data or instructions, a cable or link transmitting such a carrier wave, or any other medium from which a computer may read programming code and / or data. Many of these forms may be involved in carrying one or more sequences of one or more instructions to a processor for execution.

[0043] As indicated above, the techniques presented in this disclosure may be implemented, for example, by programmable circuitry (e.g., one or more microprocessors, etc.) programmed by software and / or firmware, or may be implemented entirely in special purpose hardwired (e.g., non-programmable) circuitry, or in a combination of both forms. The special purpose circuitry may take the form of, for example, one or more application specific circuits (ASICs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), etc.

[0044] Although specific embodiments have been described herein, these specific embodiments are illustrative and not limiting, and concepts illustrated in the embodiments may be applied to other embodiments and implementations.

[0045] Although ideal embodiments of the present disclosure are shown and described herein, it will be apparent to those skilled in the art that these embodiments are provided by way of example only. The specific examples provided herein are not intended to limit the present disclosure. Although the present disclosure has been described with reference to the above specification, the description and drawings of the embodiments are not intended to be interpreted in a limiting sense. Numerous variations, changes, and substitutions may occur to those skilled in the art without departing from the present disclosure. Furthermore, it should be understood that all elements of the present disclosure are not limited to the specific depictions, configurations, and relative proportions that depend on various conditions and variables. It should be understood that various alternatives to the embodiments described herein may be used in implementing the present disclosure. Thus, the present disclosure is intended to include such alternatives, modifications, variations, and equivalents. The following claims are intended to define the scope of the present disclosure, and it is intended to cover the means and structures of the claims and their equivalents.

Claims

1. A vehicle, a memory for storing area map data representing one or more operational areas and one or more operational rules; a sensor on the vehicle that obtains vehicle location data from one or more location beacons; a controller in communication with the sensor to analyze position data of the vehicle and compare a current location to the area map data stored in the memory, and when the controller determines that the vehicle is entering one of the one or more operational areas, adjusts operational parameters of the vehicle based on the one or more operational rules associated with the operational area, and transmits an area event message including information related to the one or more operational areas into which the vehicle has entered, wherein transmitting includes transmitting the one or more operational rules; a server, upon receiving the zone event message, sending a confirmation of the one or more operating rules associated with the operational zone into which the vehicle is entering, the confirmation including an override message and the modified one or more operating rules; and when the confirmation is received by the vehicle, the controller of the vehicle further comprises a controller that adjusts the operating parameters of the vehicle based on the modified one or more operating rules. Including, The server determines whether the area event message includes an erroneous operating rule by comparing polygon coordinates of the one or more operating areas in the area map data with polygon coordinates of one or more operating areas stored in the server, the vehicle.

2. The vehicle of claim 1 , wherein the sensor obtains position data for the vehicle at predetermined periodic intervals.

3. The vehicle of claim 2 , wherein said predetermined periodic interval is adjustable.

4. The vehicle of claim 1 , wherein the one or more operational zones are defined by polygon coordinates within the stored zone map data.

5. The vehicle of claim 1 , wherein operating rules for one or more operating areas are stored in the memory of the vehicle.

6. If the controller determines that the vehicle is entering or exiting the one or more operational areas, the controller further: The vehicle of claim 5 , configured to transmit a zone event message to a server including an identification of an operational zone being entered and a current location received by the sensor.

7. The vehicle of claim 6 , wherein the server determines one or more operating rules associated with an operating area into which the vehicle enters.

8. 7. The vehicle of claim 6, wherein the server determines whether the operational area determined by the vehicle is accurate by comparing polygon coordinates of the determined operational area in the stored area map data with polygon coordinates of the determined operational area stored in the server based on the identification information of the operational area to be entered and the current location received by the sensor, and if not accurate, transmits override information from the server to the vehicle to modify the stored area map data.

9. The vehicle of claim 6 , wherein said server periodically updates said stored area map data and operating rules for said vehicle.

10. 1. A method of controlling a vehicle, comprising: acquiring location data for said vehicle from one or more location beacons via an on-vehicle sensor; analyzing, via an on-board controller, area map data and one or more operating rules stored in an on-board memory of the vehicle; determining, via the controller, that the vehicle's position is entering or within one or more operational zones defined by zone map data; if the controller determines that the vehicle is entering one of the one or more operational areas, the controller adjusts operational parameters of the vehicle based on the one or more operational rules associated with the operational area into which the vehicle is entering, and transmits an area event message including information related to the one or more operational areas into which the vehicle has entered, wherein transmitting includes transmitting the one or more operational rules; a server, upon receiving the zone event message, sending a confirmation of the one or more operating rules associated with the operational zone into which the vehicle is entering, the confirmation including an override message and the modified one or more operating rules; When the confirmation is received by the vehicle, the controller of the vehicle further adjusts the operating parameters of the vehicle based on the modified one or more operating rules; The server determines whether the zone event message includes an erroneous operation rule by comparing polygon coordinates of the one or more operation zones in the zone map data with polygon coordinates of one or more operation zones stored in the server; How to control a vehicle.

11. The method of claim 10 , wherein the sensor acquires position data of the vehicle at predetermined periodic intervals.

12. The method of claim 11 , wherein the periodic interval is adjustable.

13. The method of claim 10 , wherein the one or more operational zones are defined by polygon coordinates within the stored zone map data.

14. The method of claim 10 , wherein operating rules for one or more operating areas are stored in the memory of the vehicle.

15. 15. The method of claim 14, further comprising, when the controller determines that the vehicle is entering one of the one or more operational areas, sending an area event message to a server including an identification of the operational area being entered and a current location received by the sensor.

16. The method of claim 15 , further comprising the step of the server determining the one or more operating rules associated with an operating area into which the vehicle enters.

17. determining, by the server, whether the operational area determined by the vehicle is accurate by comparing polygon coordinates in the stored area map data with polygon coordinates associated with the determined operational area stored in the server based on the identification information of the operational area being entered and the current location received by the sensor; if not, transmitting override information from said server to said vehicle that modifies said stored area map data; The method of claim 15 further comprising:

18. The method of claim 15 , wherein the server periodically updates the area map data and operating rules stored on the vehicle.

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