Abstract: A self-propelled security system on an adjacent to a fence track, equipped with at least one imaging sensor and wherein the rail track on which the system's movable payload is propelled and the movable payload are both exposed to the fence side, and an anchoring means for anchoring, from time to time, the movable payload, and replacing the payload's battery with a new one within the anchoring means.

Abstract: A method for determining an incline in a road that is some distance ahead of a motor vehicle relative to the section of road that is currently being driven on by the motor vehicle, wherein images of the road that is ahead of the motor vehicle are recorded by a camera, road path lines are identified ahead of the motor vehicle in the recorded images and the relative incline is calculated with reference to the differences in the courses of the road path lines at different distances.

Abstract: A method for determining a road region may include: obtaining a color image; selecting a candidate road region within the color image according to a road model; identifying a seed pixel from the candidate road region; obtaining a brightness threshold and a color threshold, where the brightness threshold and the color threshold are determined according to brightness distances and color distances from pixels in the candidate road region to the seed pixel; and performing road segmentation by determining whether the pixels in the candidate road region belong to a road region based on the brightness threshold and the color threshold.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.

Abstract: A road surface detection device that detects a road surface region based on disparity information obtained from a captured image of an area around a vehicle that is captured by an onboard camera, includes a path estimating portion that estimates a travel path where the vehicle will travel, based on driving information of the vehicle; and a detecting portion that weights the disparity information, and detects a road surface region in the captured image based on the weighted disparity information, wherein when the detecting portion weights the disparity information, the detecting portion gives less weight to the disparity information positioned on a side away from the travel path in the captured image than to the disparity information positioned on a side near the travel path in the captured image.

Abstract: A method for determining an incline in a road that is some distance ahead of a motor vehicle relative to the section of road that is currently being driven on by the motor vehicle, wherein images of the road that is ahead of the motor vehicle are recorded by a camera, road path lines are identified ahead of the motor vehicle in the recorded images and the relative incline is calculated with reference to the differences in the courses of the road path lines at different distances.

Abstract: A system for motion control is presented. In one embodiment, a motion control 3D projection system includes a projector; and a projection surface coupled to a robotic arm, where the robotic arm moves the projection surface through a set of spatial coordinates, and a 3D projection from the projector is projected onto a set of coordinates of the projection surface and matches the 3D projection to the set of coordinates of the projection surface as the projection surface moves through the set of spatial coordinates. In additional embodiments, a master control system may integrate additional robotic arms and other devices to create a motion control scene with a master timeline.

Abstract: The disclosure relates to a method for lane filtering. In particular, the present embodiments relate to a method for determining whether lane filtering may be performed, an apparatus for lane filtering and computer program code to implement the determination by a device. In accordance with an example method information of a distance between a second vehicle and a third vehicle adjacent to each other and in front of a first vehicle is obtained. It is determined whether the distance is big enough for the first vehicle to proceed through the space between the second first vehicle and the third vehicle. An indication is provided on the basis of the result of the determining.

Abstract: Navigation data is generated by receiving (502) a new experience data set (321) relating to a new experience capture. At least one stored experience data set (320) relating to at least one previous experience capture is also received (504). An experience data set includes a set of nodes, with each node comprising a series of visual image frames taken over a series of time frames. A candidate set of said nodes is obtained (506) from the stored experience data set that potentially matches a said node in the new experience data set, and then a check (508) if performed to see if a node in the candidate set matches the node in the new experience data set. If the result of the checking is positive then data relating to the matched nodes is added (510) to a place data set useable for navigation, the place data set indicating that said nodes in different said experience data sets relate to a same place.

Abstract: A calibration system for a multi-camera vision system of a vehicle includes a plurality of calibration targets disposed at an area at which the vehicle is positioned for a calibrating procedure. The calibration targets may include a patterned array of markings, such as colored or black/white or shaded markings or dots, disposed at forward, rearward and/or sideward regions of the vehicle. The control is operable to process image data captured by the cameras and, responsive to processing of captured image data, the control is operable to determine a particular local pattern of markings of the respective calibration target to determine the position of the respective calibration target relative to the camera that is imaging that target. Responsive to processing of captured image data, the calibration system is operable to calibrate the multi-camera vision system of the vehicle.

Abstract: A vehicle safety control apparatus using cameras includes a first camera configured to photograph a current object at at least one of a narrow angle and a straight angle during running, a second camera configured to photograph the current object at a wide angle during the running, an image processing unit configured to perform image processing on first current object image data captured by the first camera and second current object image data captured by the second camera, a recognition unit configured to recognize the first and second current object image data on which the image processing unit has performed the image processing, a storage unit configured to cause the recognized data to match preset reference object-specific data and separately store the data matching the preset reference object-specific data; and a control unit configured to receive the recognized data and deliver a storage command to the storage unit.

Abstract: An electric power steering system for a vehicle works to determine an assist command based on steering torque to produce assist torque through an electric motor for assisting in turning a steering wheel of the vehicle, also determines a tracking command for producing automatic steering torque which brings a value of a given physical quantity associated with steering of the vehicle into agreement a target value, and calculates a steering correction command for use in producing a steering correction torque which reduces the steering torque which arises from output of the torque from the electric motor based on a transfer characteristic of transmission of the output of torque from the electric motor as a part of the steering torque. A motor driver works to actuate the electric motor based on sum of the assist command, the tracking command, and the steering correction command.

Abstract: Various methods and systems are provided for generating prioritized alerts for a driver based on a fusion of data from a plurality of sensors. In one example, a method comprises calculating a first route of a vehicle, calculating a second route of an obstacle, calculating a gaze of a driver of the vehicle, generating an alert responsive to the gaze not including the obstacle and the first route intersecting the second route within a threshold duration, and suppressing a generation of the alert otherwise.

Abstract: Systems and methods are provided that may optimize basic models of an intersection in a roadway with high intensity image data of the intersection of the roadway. More specifically, parameters that define the basic model of the intersection in the roadway may be adjusted to more accurately define the intersection. For example, by comparing a shape of the intersection predicted by the basic model with extracted curbs and lane boundaries from elevation and intensity maps, the intersection parameters can be optimized to match real intersection-features in the environment. Once the optimal intersection parameters have been found, roadgraph features describing the intersection may be extracted.

Abstract: An emitting device emits parallel light beams which impinge on a road surface, forming marks. An imaging device takes an image of an image pickup object containing the marks to obtain a picked-up image. A longitudinal distance between mark images respectively corresponding to the marks is detected. A larger gradient can be obtained in the case where the distance is long than in the case where the distance is short. While the gradient of the road surface is obtained based on the distance as described above, a relative positional relationship between the two mark images is not changed as long as the gradient of the road surface is the same even when the height position of an over-spring member provided with the emitting device and the imaging device is changed. Accordingly, the gradient of the road surface can be obtained without consideration of the displacement of the over-spring member.

Abstract: A method for monitoring an autonomous accelerated pushback process in an aircraft equipped with an engines-off taxi system is provided to maximize safety and facilitate the accelerated pushback process. The aircraft is equipped with a monitoring system including a number of different kinds of sensors and monitoring devices positioned to maximally monitor the aircraft's exterior ground environment and communicate the presence or absence of obstructions in the aircraft's path while the pilot is controlling the engines-off taxi system to drive the aircraft in reverse away from a terminal gate and then turn in place at a selected location before driving forward to a taxiway. The sensors and monitoring devices may be a combination of cameras, ultrasound, global positioning, radar, and LiDAR or LADAR devices, and proximity sensors located at varying heights adapted to continuously or intermittently scan or sweep the aircraft exterior and ground environment during aircraft ground movement.

Abstract: A system and computer implemented method for identifying an object in a route is disclosed. The method may include capturing a first set of images during a first traversal of a first route. The method may also include capturing a second set of images during a second traversal of the first route. The method may also include identifying, by comparing the first set of images with the second set of images, an object in the second set of images meeting an obstruction criteria. The method may also include providing a notification of the object which was identified as meeting the obstruction criteria.

Abstract: A three-dimensional object detection device basically includes a three-dimensional object detection unit, a natural object assessment unit and a control unit. The three-dimensional object detection unit detects three-dimensional objects based on image information of a rear of a vehicle from a camera. The natural object assessment unit assesses that a detected three-dimensional object is a natural object, such as a plant or snow, based on an irregularity evaluation value calculated based on a first pixel number of first pixels representing a first predetermined differential in the differential image containing the detected three-dimensional object and a second pixel number of second pixels corresponding to the three-dimensional object and representing a second predetermined differential greater than the first predetermined differential.

Abstract: The invention relates to a system for verifying geographical descriptiveness of a media file, such as a picture. The system comprises storage means adapted to store a media file, communication means adapted to send said media file to a plurality of user terminals, and to receive, from the user terminals, data indicating a guessed geographical position with which the user of each user terminal associates the media file. The system also comprises calculation means adapted to determine whether the media file is indicative of a geographical position based on the guessed geographical positions received from the plurality of user terminal.

Abstract: A computerized system mountable on a vehicle operable to detect an object by processing first image frames from a first camera and second image frames from a second camera. A first range is determined to said detected object using the first image frames. An image location is projected of the detected object in the first image frames onto an image location in the second image frames. A second range is determined to the detected object based on both the first and second image frames. The detected object is tracked in both the first and second image frames When the detected object leaves a field of view of the first camera, a third range is determined responsive to the second range and the second image frames.

Abstract: A driver assistance systems mountable in a host vehicle while the host vehicle is moving forward with headlights on for detection of obstacles based on shadows. The driver assistance system includes a camera operatively connectible to a processor. A first image frame and a second image frame are captured of a road. A first dark image patch and a second dark image patch include intensity values less than a threshold value. The first and the second dark image patches are tracked from the first image frame to the second image frame as corresponding images of the same portion of the road. Respective thicknesses in vertical image coordinates are measured of the first and second dark image patches responsive to the tracking.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.

Abstract: A method for detecting a narrow road includes calculating relative heights of points from a distance measuring sensor to a ground based on distance information. A left boundary point and a right boundary point, at which a difference in relative heights from adjacent points becomes maximal, are acquired. A road boundary line of a driving road is acquired based on the left boundary point and the right boundary point depending on a movement trajectory of the vehicle when a difference in relative heights at the left boundary point and the right boundary point is more than or equal to a reference value. A road width of the driving road is calculated based on the road boundary line. It is detected whether the driving road of the vehicle is a narrow road based on the road width.

Abstract: A vehicle navigation of the present invention comprises: a storage unit which stores normal posture data of a vehicle black box; a communication unit which communicates with the vehicle black box; and a controller which obtains current posture data by analyzing data received from the vehicle black box, and determines whether the stored normal posture data is matched with the obtained current posture data. According to the present invention, the driver is notified in advance that the position of a camera is out of shape due to the repeated vibration or acceleration or the like of a vehicle. Thus, the driver can correct the vehicle black box, the camera equipped in the vehicle black box or the camera provided in the vehicle to the normal positions.

Abstract: A vehicle-mounted environment recognition apparatus including a simple pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate, an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object, and a tracking unit which tracks the object on the basis of an inputted predicted position of the object.

Abstract: A method and a device for driver information, according to which a warning is produced on the basis of the lane information which indicates crossing of the lane edge. Upon branching of a roadway line, the particular outer lines are used as lane edge markings as the basis for the lane departure warning.

Abstract: A method is provided for semi-automatic operation of a portable control device for a remote-controlled, unmanned vehicle. The method includes the steps of monitoring parameters of an operational environment of the portable control device, switching from a manual operation mode to a semi-automatic operation mode in response to occurrence of predetermined criteria within the operational environment, and presenting a semi-automatic operation graphical user interface to a user of the portable control device. The semi-automatic operation graphical user interface includes a reduced set of user interfaces for the semi-automatic operation mode presented by the portable control device.

Abstract: A parking assistance apparatus includes a display unit that displays an image of a scene behind a host vehicle. At least when the host vehicle moves forward or when the host vehicle is stopped, the display unit displays an indication including a plurality of kinds of trajectories along which the host vehicle is able to back up from a point at which the host vehicle is currently positioned, in a manner such that the indication is superimposed on the image of the scene behind the host vehicle.

Abstract: The present disclosure relates to a robotic system including one or more self-propelled motorized vehicles 120 (SPMV) whose motion is controlled in accordance with electronic image data acquired by one or more observing camera(s) 110 configured to image a scene including the SPMV 120. In some embodiments, the SPMV includes one or more on-board lights 124, and the SPMV is operated according to analyzing images acquired by the observing camera before and after an illumination transition of one or more of the point-lights. Some embodiments relate techniques to computer gaming and/or to stereoscopic image processing techniques.

Abstract: An object is to prevent a driving assistance system for a vehicle from causing a collision of the driver's own vehicle with a solid object by performing driving assistance. To achieve the object, when a solid object that can be an obstacle exists in the course of the driver's own vehicle, the driving assistance system for a vehicle according to the present invention determines a plurality of primary paths along which the driver's own vehicle can travel by changing the momentum thereof, designates an avoidance line along which the solid object can be avoided from among the primary paths, and changes the momentum of the driver's own vehicle in such a way that the driver's own vehicle travels along the selected avoidance line.

Abstract: A driving safety system for a vehicle includes a housing, a camera positioned on the housing, and a controller positioned on the housing and electrically coupled to the camera. The controller includes a plurality of modules whereby the camera captures images of the scene in front of the vehicle and an image identification module identifies a traffic light state and a value of a countdown timer in real time from the captured images and sends a corresponding signal to the micro control unit, then the micro control unit will warn the driver as to the states of the traffic lights and countdown timer. A vehicle using the driving safety system is also disclosed.

Abstract: A failure-determination apparatus is provided with: a radar device (2); a camera unit (3); a moving target determination unit (12) that determines whether or not the object detected by the radar device (2) is a moving target; an object extraction unit (13) that extracts a specific object from the image captured by the camera unit (3); and a failure-determination unit (14) that determines that the camera unit (3) is in an abnormal state when the object which has been determined to be the moving target by the moving target determination device (12), cannot be determined to be the specific object by the object extraction unit (13).

Abstract: A method for detecting a clear path of travel for a vehicle utilizing analysis of an image generated by a camera device located upon the vehicle includes monitoring the image, identifying through patch-based clear path detection analysis of the image a first patch within the image that indicates a not clear path, analyzing the first patch through patch smoothing, invalidating the first patch based upon the analyzing the first patch through patch smoothing, utilizing the invalidated first patch to define a clear path of travel for the vehicle, and utilizing the clear path of travel to navigate the vehicle.

Abstract: A vehicle periphery monitoring device includes: a first edge image generation element 5 which generates a first edge image on the basis of luminance components of a captured image acquired by an in-vehicle camera 2; a second edge image generation element 6 which generates a second edge image on the basis of hue components or saturation components of the captured image; a composite edge image generation element 7 which generates a composite edge image formed by combining the first edge image and the second edge image; and an object classification identification element 8 which identifies whether or not the object is a prescribed kind of structure on the basis of the external shape of the object represented by the composite edge image.

Abstract: A method for detecting a clear path of travel for a vehicle using a current image generated by a camera includes defining an exemplary clear path for each of a plurality of sample images, identifying features within each of the plurality of sample images, monitoring the current image generated by the camera, identifying features within the current image, matching the current image to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images, determining a clear path of travel based upon the matching and the exemplary clear path for each of the matched sample images, and utilizing the clear path of travel to navigate the vehicle.

Abstract: Various methods for imaging and navigating a selected path are described. A method of navigating a path includes the step of identifying a selected path. At least one image stream associated with navigating the selected path is identified. The displayed image stream includes visual information corresponding to traveling the selected path. In one embodiment, display of the image stream is varied in accordance with an actual location and a speed of a traveler along the selected path. Various single pass and multi-pass systems are described for capturing the visual information associated with a path. One method of acquiring visual information includes generating first and second image streams comprising visual information representing traversal of the path. Audio cues are recorded at the same plurality of locations on each pass. The audio cues permit synchronization of the image streams to locations along the path.

Abstract: A method for detecting a clear path of travel for a vehicle utilizing analysis of a plurality of images generated by a camera device located upon the vehicle includes monitoring the images. The images are analyzed including determining a clear path upon which a potential road surface can be estimated from other portions of the images that do not indicate a potential road surface, and determining an image of a traffic infrastructure indication. The method further includes determining the content of the traffic infrastructure indication, modifying the clear path based upon the content of the traffic infrastructure indication, and utilizing the modified clear path in navigation of the vehicle.

Abstract: A vehicle driving assistance system not using a high performance computer mounted in a vehicle. In the system, an imaging unit mounted in the vehicle captures an image of surroundings of the vehicle. A communication unit mounted in the vehicle transmits information including the image captured by the imaging unit to an information processing center outside of the vehicle. An image processing unit included in the information processing center applies predefined image processing to the image received from the vehicle. A communication unit included in the information processing center transmits information indicative of an outcome of the image processing by the image processing unit to the vehicle. A driving assistance unit mounted in the vehicle performs operations for assisting in driving the vehicle on the basis of the information indicative of the outcome of the image processing by the image processing unit.

Abstract: A method for predicting lane line is provided in the present invention, in which the method is capable of predicting and reconstructing the unidentified lane line according to a predetermined geometry relationship based on the recognized lane line data previously while one side of lane line is unable to be identified. In one embodiment, a lane predicting relationship formula is formed by describing the geometry relationship between the two identified lines defined the lane. When the one side of line of the lane is unable to be identified, a new predicted line can be reconstructed for representing the unidentified line of lane according to the lane predicting relationship curve. In another embodiment, a lane departure warning system utilizing the foregoing method is provided for monitoring vehicle moving status and alerting the driver so as to enhance the vehicle safety.

Abstract: A method is provided in one example embodiment and includes establishing a connection between a first client and a messaging fabric of a conductor element associated with a video system; receiving a request to perform a companion service with a second client; authenticating the first client via a client directory based on an identifier associated with the first client; receiving a pair message from the first client for the second client; and verifying whether the two clients can be paired in order to perform the companion service. Companion service commands can be authorized/policy checked and resulting commands on the second client may appear as-if they had been triggered locally.

Abstract: A system and method used to configure a smart device to command functional operations of a target appliance. The smart device retrieves from a controllable appliance, such as a settop box, data indicative of a codeset identity of the target appliance wherein the codeset identity was determined during a process used to configure a conventional universal remote control to command functional operations of the target appliance and wherein the process used to configure the conventional universal remote control is performed in cooperation with the controllable appliance. A remote control application resident on the smart device then uses the data indicative of the codeset identity retrieved from the controllable appliance to also configure the smart device to command functional operations of the target appliance.

Abstract: It is an object to provide a lane departure warning device capable of generating almost no false warning if a driver performs an avoiding operation of a lane departure.

Abstract: A lane departure warning system (LDWS) installed on vehicles is revealed. The LDWS includes a camera that captures road images and the data of images is sent to an electronic control unit (ECU) for processing and recognition. The ECU is directly connected with a global positioning system (GPS) that provides vehicle speed signals so as to check whether dangerous driving occurs. Once the dangerous driving occurs, a warning unit is turned on to send an alert. The conventional LDWS that complicatedly connects with vehicles parts such as turn signal lights or speedometers is replaced by connection with a GPS. Thus the convenience of installation of LDWS in vehicles is improved.

Abstract: Lane keeping control is ended in accurate timing which does not give an uncomfortable feeling to a driver. In a vehicle 10 which is provided with a steering mechanism 200, an EPS actuator 300, and a VGRS actuator 500 and which can change a rudder angle regardless of a driver's steering input due to the cooperative control of the aforementioned mechanism and actuators, an ECU 100 performs LKA end control. In the control, in cases where a winker lever 16 is operated in a period of performing LKA control for making the vehicle 10 follow a target driving route, if the indicated direction of the winker lever 16 is different from a generation direction of generating an assist steering torque TA of the EPS actuator 300 in the LKA control, the LKA control is promptly ended. In cases where the indicated direction is equal to the generation direction, if a steering angle MAdrv corresponding to the driver's steering input exceeds a steering angle MAlka generated by the LKA control, the LKA control is ended.

Abstract: An anhydrous ammonia distribution system includes a portable nurse tank 12 powered by an operator cab 13. One or more distributors 22 receive anhydrous ammonia from the nurse tank, and a plurality of knife hoses 30 deliver anhydrous ammonia from a distributor to a selected number of knives 31 for delivery to the field. Pressure gauge 32, 34 is provided for monitoring pressure at one or more distributors, and a camera 42 positioned within enclosure 40 transmits a reading from the pressure gauge to the operator cab, thereby alerting the operator to a malfunction in the delivery system.

Abstract: A system and method for aircraft taxi gate selection based on passenger connecting flight information. In one embodiment, a communication link is established between an aircraft computing system and a ground station system via a communication network provided by the ground station system. Further, aircraft taxi gate selection information and the passenger connecting flight information are substantially simultaneously displayed on a display device to a pilot upon establishing the communication link. Furthermore, the pilot is allowed to select an aircraft taxi gate based on the displayed aircraft taxi gate selection information and passenger connecting flight information.

Abstract: A system for and a method of synchronous acquisition of pulsed source light performs monitoring of aircraft flight operation. Diode sources of illumination (18, 108, 208) are pulsed (16, 106, 206) at one-half the video frame rate of an imaging camera (36, 136, 236). Alternate frames view the world-scene with lights of interest pulsed on, and then off, respectively. Video differencing (34, 134, 234) eliminates the background scene, as well as all lights not of interest. Suitable threshholding over a resulting array of camera pixel-differences acquires the desired lights and represents them as point symbology on a display (40, 140, 240). In an enhanced vision landing system embodiment, the desired lights (symbols) overlay or are fused on a thermal image of the scene; alternatively, the symbols overlay a visible scene (TV) image.

Abstract: A system for and a method of synchronous acquisition of pulsed source light performs monitoring of aircraft flight operation. Diode sources of illumination (18, 108, 208) are pulsed (16, 106, 206) at one-half the video frame rate of an imaging camera (36, 136, 236). Alternate frames view the world-scene with lights of interest pulsed on, and then off, respectively. Video differencing (34, 134, 234) eliminates the background scene, as well as all lights not of interest. Suitable threshholding over a resulting array of camera pixel-differences acquires the desired lights and represents them as point symbology on a display (40, 140, 240). In an enhanced vision landing system embodiment, the desired lights (symbols) overlay or are fused on a thermal image of the scene; alternatively, the symbols overlay a visible scene (TV) image.

Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.

Abstract: A vehicle can be controlled in a first autonomous mode of operation by at least navigating the vehicle based on map data. Sensor data can be obtained using one or more sensors of the vehicle. The sensor data can be indicative of an environment of the vehicle. An inadequacy in the map data can be detected by at least comparing the map data to the sensor data. In response to detecting the inadequacy in the map data, the vehicle can be controlled in a second autonomous mode of operation and a user can be prompted to switch to a manual mode of operation. The vehicle can be controlled in the second autonomous mode of operation by at least obtaining additional sensor data using the one or more sensors of the vehicle and navigating the vehicle based on the additional sensor data.