A roadgraph may include a graph network of information such as roads, lanes, intersections, and the connections between these features. The roadgraph may also include one or more zones associated with particular rules. The zones may include locations where driving is typically challenging such as merges, construction zones, or other obstacles. In one example, the rules may require an autonomous vehicle to alert a driver that the vehicle is approaching a zone. The vehicle may thus require a driver to take control of steering, acceleration, deceleration, etc. In another example, the zones may be designated by a driver and may be broadcast to other nearby vehicles, for example using a radio link or other network such that other vehicles may be able to observer the same rule at the same location or at least notify the other vehicle's drivers that another driver felt the location was unsafe for autonomous driving.
1. A method for maneuvering a vehicle, the method comprising:
accessing map information including one or more zones, each zone being associated with a rule that indicates a driver to take control of a control aspect of the vehicle;
receiving input identifying a destination location;
identifying, by a processor, a route based on the map information and the destination location, where the route requires the vehicle to pass through at least one zone of the one or more zones;
maneuvering, by the processor, the vehicle to the destination;
when the vehicle is within a predetermined distance along the route of the at least one zone, identifying the rule associated with the at least one zone, identifying the control aspect of the identified rule, and notifying the driver of the need to control the identified control aspect through the at least one zone;
receiving instructions from the driver to avoid the at least one zone;
generating a new route to the destination which does not pass through the at least one zone; and
maneuvering the vehicle along the new route.
2. The method of claim 1 , wherein the identified control aspect includes at least one of steering, acceleration, and braking.
3. A method for maneuvering a vehicle, the method comprising:
accessing map information including one or more zones, each zone being associated with a rule that indicates a driver to take control of a control aspect of the vehicle;
identifying, by a processor, a route based on the map information, where the route requires the vehicle to pass through at least one zone of the one or more zones;
maneuvering, by the processor, the vehicle to the destination;
when the vehicle is within a predetermined distance along the route of the at least one zone, identifying the rule associated with the at least one zone, identifying the control aspect of the identified rule, and notifying the driver of the need to control the identified control aspect through the at least one zone;
identifying a first location based on the driver controlling a given control aspect of the vehicle;
identifying a second location based on the driver relinquishing control of the given control aspect of the control vehicle;
generating a new zone based on the first location and the second location;
generating a new rule for the new zone based on the given control aspect; and
storing the new zone and the new rule with the map information.
4. The method of claim 3 , further comprising:
receiving information indicating that the driver has taken control of the identified control aspect;
waiting until the vehicle has left the at least one zone and the driver has relinquished control of the identified control aspect; and
continuing to maneuver the vehicle along the route towards the destination.
5. The method of claim 3 , further comprising, when the driver has not taken control of the identified control aspect, once the vehicle reaches the at least one zone, maneuvering the vehicle through the at least one zone along the route.
6. The method of claim 3 , further comprising transmitting the new zone and the new rule to another vehicle.
7. A tangible, non-transitory, computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method of maneuvering a vehicle, the method comprising:
accessing map information including one or more zones, each zone being associated with a rule that indicates a driver to take control of a control aspect of the vehicle;
identifying a route based on the map information, where the route requires the vehicle to pass through at least one zone of the one or more zones;
maneuvering, by the processor, the vehicle along the route;
when the vehicle is within a predetermined distance along the route of the at least one zone, identifying the rule associated with the at least one zone, identifying the control aspect of the identified rule, and notifying the driver of the need to control the identified control aspect through the at least one zone;
receiving instructions from the driver to avoid the at least one zone;
generating a new route to the destination which does not pass through the at least one zone; and
maneuvering the vehicle along the new route.
8. A vehicle comprising:
a plurality of control aspects for controlling movement of the vehicle;
memory storing map information including one or more zones, each zone being associated with a rule that indicates a driver to take control of at least one control aspect of the plurality of control aspects;
a processor coupled to the plurality of control aspects and the memory, the processor being operable to:
identify a route based on the map information, where the route requires the vehicle to pass through at least one zone of the one or more zones;
maneuver the vehicle along the route;
when the vehicle is within a predetermined distance along the route of the at least one zone, identify the rule associated with the at least one zone, identify the control aspect of the identify rule, and notify a driver of the need to control the identified control aspect through the at least one zone;
identify a first location based on the driver controlling a given control aspect of the vehicle;
identify a second location based on the driver relinquishing control of the given control aspect of the vehicle;
generate a new zone based on the first location and the second location;
generate a new rule for the new zone based on the given control aspect; and
store the new zone and the new rule with the map information.
9. The vehicle of claim 8 , wherein the processor is further operable to, when the driver has not taken control of the identified control aspect and once the vehicle reaches the at least one zone, maneuver the vehicle through the at least one zone along the route.
10. The vehicle of claim 8 , wherein the processor is further operable to transmit the new zone and the new rule to another autonomous vehicle.
11. The vehicle of claim 8 , wherein the identified control aspect include at least one of a steering system, an acceleration system, and a braking system.
12. A method of maneuvering a vehicle, the method comprising:
maneuvering, by a processor, the vehicle along a current path on a roadway;
determining whether the vehicle is within a distance along the current path of at least one zone associated with a rule that requires a driver to take control of at least one control aspect of the vehicle;
when the vehicle is within the distance along the current path of the at least one zone, notifying the driver of the need to control the at least one control aspect through the at least one zone;
identifying a first location based on the driver controlling a given control aspect of the vehicle;
identifying a second location based on the driver relinquishing control of the given control aspect of the vehicle;
generating a new zone based on the first location and the second location;
generating a new rule for the new zone based on the given control aspect; and
storing the new zone and the new rule with the map information.
13. The method of claim 12 , wherein the at least one control aspect includes at least one of steering, acceleration, and braking.
14. The method of claim 12 , further comprising:
receiving information indicating that the driver has taken control of the identified control aspect;
waiting until the vehicle has left the at least one zone and the driver has relinquished control of the identified control aspect; and
continuing to maneuver the vehicle by the processor.
15. The method of claim 12 , further comprising, when the driver has not taken control of the at least one control aspect, once the vehicle reaches the at least one zone, maneuvering the vehicle through the at least one zone.
16. The method of claim 12 , further comprising transmitting the new zone and the new rule to another vehicle.