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;
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 a destination by controlling a first control aspect and a second control aspect without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering;
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 as the first control aspect, and notifying the driver of the need to control the first control aspect through the at least one zone;
receiving input from the driver indicating that the driver is controlling the first control aspect; and
in response to receiving the input and while the driver is controlling the first control aspect, continuing, by the processor, to control the second control aspect.
2. The method of claim 1 , further comprising receiving input identifying a destination location and wherein identifying the route is further based on the destination location.
3. The method of claim 1 , further comprising:
receiving information indicating that the driver has taken control of the first control aspect;
waiting until the vehicle has left the at least one zone and the driver has relinquished control of the first control aspect; and
continuing, by the processor, to maneuver the vehicle along the route by controlling the first control aspect and the second control aspect.
4. The method of claim 3 , wherein the first control aspect is the steering control.
5. The method of claim 4 , wherein the second control aspect is the acceleration control.
6. The method of claim 3 , wherein the first control aspect is the acceleration control.
7. The method of claim 6 , wherein the second control aspect is the steering control.
8. The method of claim 3 , wherein the first control aspect is the deceleration control.
9. The method of claim 8 , wherein the second control aspect is the steering control.
10. The method of claim 1 , wherein the first control aspect is the acceleration control.
11. The method of claim 10 , wherein the second control aspect is the steering control.
12. 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 by controlling a first control aspect and a second control aspect without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering controls;
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 as the first control aspect, and notifying the driver of the need to control the first control aspect through the at least one zone;
receiving input from the driver indicating that the driver is controlling the first control aspect; and
in response to receiving the input and while the driver is controlling the first control aspect, continuing to control the second control aspect through the at least one zone.
13. The tangible, non-transitory, computer-readable storage medium of claim 12 , wherein the the first control aspect includes the steering control.
14. The tangible, non-transitory, computer-readable storage medium of claim 12 , wherein the method further comprises:
receiving information indicating that the driver has taken control of the first 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 by controlling the first control aspect and the second control aspect.
15. The tangible, non-transitory, computer-readable storage medium of claim 12 , further comprising receiving input identifying a destination location and wherein identifying the route is further based on the destination location.
16. A device comprising:
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 a first 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 by controlling the first control aspect and a second control aspect without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering controls; and
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 identified rule, and notify a driver of the need to control at least the first control aspect through the at least one zone;
receiving input from the driver indicating that the driver is controlling the first control aspect; and
in response to receiving the input and while the driver is controlling the first control aspect, continuing to control the second control aspect through the at least one zone.
17. The device of claim 16 , wherein the first control aspect is the steering control.
18. The device of claim 16 , wherein the second control aspect is the acceleration control.
19. A method of maneuvering a vehicle, the method comprising:
maneuvering, by a processor, the vehicle along a current path on a roadway by controlling a first control aspect and a second control aspect without continuous input from the driver, wherein the first and second control aspects are selected from the group consisting of acceleration, deceleration, and steering controls;
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 the first control aspect of the vehicle; and
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 at least the first control aspect through the at least one zone;
receiving input from the driver indicating that the driver is controlling the first control aspect; and
in response to receiving the input and while the driver is controlling the first control aspect, continuing to control the second control aspect through the at least one zone.
20. The method of claim 19 , further comprising:
receiving information indicating that the driver has taken control of the first control aspect;
waiting until the vehicle has left the at least one zone and the driver has relinquished control of the first control aspect; and
continuing, by the processor, to maneuver the vehicle along the route by controlling the first control aspect and the second control aspect.