Method and control arrangement for updating maps during ongoing missions

Abstract

The present disclosure relates to vehicles, and in particular to updating map data during autonomous operation of vehicles. The disclosure also relates to a corresponding computer program, control arrangement and to a vehicle comprising the control arrangement. According to a first aspect, the disclosure relates to a computer implemented method for use in a vehicle (1), for updating a map (3), for use during autonomous operation of the vehicle (3), while the vehicle (1) is executing an ongoing mission using the map. The computer implemented method comprises, while executing the mission, receiving (S3) map data over a wireless communication link (4), and upon the vehicle (1) operating in a safe state, from a set of one or more predefined safe states during which updating of the map is allowed, updating the map (3) in accordance with the received updated map. The computer implemented method further comprises, upon the ongoing mission being compliant with the updated map, proceeding with the ongoing mission and else, upon the ongoing mission being incompliant with the updated map, aborting the ongoing mission.