Abstract: A method for updating HD maps in view of real-world changes and for managing the ODD of the ADS accordingly are disclosed. A fleet of vehicles are used to automatically detect mismatches between the ADS's perceived environment and the HD map, when they occur. Once a sufficient number of production vehicles have reported a mismatch event—i.e., an instance of a mismatch between the perceived environment and the HD map—or once a sufficient number of mismatch events have been reported to a remote server for a specific geographical location or area of interest, the remote server transmits a confirmation of the “mismatch” associated with that specific geographical location or area of interest to the fleet of vehicles associated with the remote server. Thereby the vehicles may configure an ODD exit for the ADS at that specific geographical location or area of interest.