Abstract:
A system of computers configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them on the system that in operation causes or cause the system to perform the actions. One general aspect includes a system, including a computer programmed to control each of an autonomous vehicle propulsion, steering, and braking, where the vehicle is subject to autonomous control. The system makes a first determination, based on data from a vehicle sensor, of availability of a vehicle parking area and makes a second determination, based on at least a geolocation of the vehicle, a system fault, a conditional boundary and availability of the parking area, to autonomously park in the parking area. Other embodiments of this aspect include corresponding computer systems, apparatus, and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods.

Description:
BACKGROUND 
       [0001]    Autonomous or semi-autonomous vehicles such as are now beginning to appear on roadways can, just like vehicles that are manually controlled by an operator, develop minor systems faults that can impede the vehicle&#39;s operation, e.g., problems with vehicle sensors or the like. A risk in an autonomous or semi-autonomous vehicle is that a minor systems fault can develop into a more serious fault, preventing operation of the vehicle, and leaving an occupant stranded in a dangerous situation, e.g., at a remote rural location where assistance is difficult to obtain, in the middle of a congested highway at rush hour, etc. Another risk in an autonomous vehicle is a possible inability to operate if environmental conditions change, e.g., when the autonomous vehicle approaches an area of bad weather, severe traffic, etc. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0002]      FIG. 1  is a block diagram of an exemplary autonomous vehicle system to control and monitor vehicle operation. 
           [0003]      FIG. 2  is a flowchart of an exemplary process that may be implemented in the computer and associated hardware components of the system of  FIG. 1 . 
           [0004]      FIG. 3  is a flowchart of an exemplary sub-process of the process of  FIG. 2 . 
       
    
    
     DETAILED DESCRIPTION 
       [0005]      FIG. 1  is schematic diagram of an exemplary vehicle control system  10  of an autonomous vehicle (AV)  8  or semi-autonomous vehicle (not shown.) An autonomous vehicle  8  is one in which substantially all operations, i.e., all operations relating to propulsion, braking, and steering are under autonomous control by a control computer  12 . A semi-autonomous vehicle is one in which at least one of such operations, e.g., one of propulsion, braking, and steering is controlled by the vehicle control system  10 . When one or more system faults are detected in a vehicle  8  component and/or subsystem, as described below, the computer  12  may determine that the vehicle  8  is unable to perform one or more autonomous operations. Therefore, it may be warranted to steer the vehicle  8  to a safe and nearby vehicle parking area, e.g., a parking space, area of a road shoulder, etc. The computer  12  may therefore be programmed to allow autonomous operation of a vehicle  8  only when at least one such parking area is determined to be proximate, i.e., within a predetermined distance, e.g.,  10  meters,  100  meters, etc., and accessible from a route of the vehicle  8 . Such a parking area the vehicle  8  previously identified as a potential parking area. 
         [0006]    As seen in  FIG. 1 , various vehicle  8  computers  14 - 22  can be communicatively connected to the control computer  12 . These computers may each be an electronic control unit (ECU) or the like such as is known. The control computer  12  can include programming to monitor and control various ECUs and/or other vehicle  8  components. 
         [0007]    The computer  12 , as well as the other computers discussed below, have at least one processor and typically have a memory, e.g., comprising various types of permanent and transient memory such as are known to store computer instructions, register values, and temporary and permanent variables. Further, the control computer  12  can generally include instructions for exchanging data, e.g., from and to an occupant, for example via a wearable device, a portable user device such as s smartphone or the like, and/or Human Machine Interface (HMI) inside the vehicle  8 , which may be one or more of an interactive voice response (IVR) system, a graphical user interface (GUI) including a touchscreen or the like, etc. 
         [0008]    The vehicle  8  control computer  12  is typically connected to other computers  14 - 22  and/or other vehicle  8  ECUs, etc., via a vehicle network. For example, various communications may occur on a Controller Area Network (CAN) bus such as is known. Other wired and wireless communications can be included in a vehicle network, e.g., Ethernet, WiFi, etc. Further, the vehicle  8  can communicate with other networks or vehicles as described below, and may include wireless networking technologies, e.g., cellular, Wi-Fi®, Bluetooth®, Near Field Communication (NFC), wired and/or wireless packet networks, etc. 
         [0009]    The control computer  12  is typically connected to a navigation computer  14 , a braking controls computer  16 , an propulsion control computer  18 , a biometric monitor computer  20 , a steering computer  22  and a telematics unit  24 . The navigation computer  14  can receive, for example, a signal from the known Global Navigation Satellite System (GNSS) to determine the vehicle  8  location and/or the navigation computer  14  can deploy a dead reckoning system for vehicle  8  location determination. 
         [0010]    The braking control computer  16  can monitor and control the vehicle  8  brakes, as well as any parameters affecting the stopping of the vehicle  8 . The propulsion control computer  18  can monitor and control the engines and the motors along with the powertrain system of the vehicle  8 . In the present context, a propulsion system could include a powertrain system including an internal combustion engine and/or electric motor, etc. 
         [0011]    The biometric monitor computer  20  can observe the occupant, for example, to determine the occupant&#39;s level of alertness. In a first example, the biometric monitor computer  20  can observe the occupant&#39;s eyes to see if they open to determine if the occupant is asleep. In a second example, the biometric monitor computer  20  could, e.g., via an IVR system, engage verbally with the occupant to determine alertness. The steering computer  22  can monitor and control the steering system of the vehicle  8  as well as generate a steering profile which can be sent to the control computer  12  to use when navigating 
         [0012]    The telematics unit  24  can be in communication with a remote network  19 , for example, the Internet via cellular, Wi-Fi®, Bluetooth®, Near Field Communication (NFC), wired and/or wireless packet networks, etc. The remote network  19  can provide a gateway to a server  17 , which can provide a server download to the computer  12 , for example, a collection of map data acquired from previous trips. The upload can include, for example, parking area locations and the sizes of a potential parking spots, which can be utilized in the event of a vehicle system fault or more serious vehicle emergency situation. In addition, the server  17  can provide updates on weather, traffic and updates, as well as updates geo-fencing boundary information that changes substantially continuously as a vehicle moves, e.g., navigates along a route. 
         [0013]    The control computer  12  can monitor the other computer controllers  14 - 22  to obtain data to determine if the autonomous vehicle  8  is capable of autonomous operation. For example, the control computer  12  can query statuses of the other computers controller  14 - 22  statuses and produce a vehicle status report. The control computer can confirm the navigation computer  14  is on-line and can provide, or has provided, a route the autonomous vehicle  8  is to travel. The control computer  12  can receive a confirmation from the braking control computer  16 , the propulsion control computer  18  and the steering computer  22  that their respective systems are operating nominally. 
         [0014]    The biometric monitor computer  20  can send biometric data to occupant to the control computer  12 , for example, the data can indicate that the occupant is asleep and that the control computer  12  cannot depend upon the occupant to take over control controls of the autonomous vehicle  8  in the event of a system fault that prevents safe autonomous operation. 
         [0015]    The biometric monitor computer  20  can also monitor the occupant&#39;s breathing and eye movements along with providing stimuli, for example, sounds to determine if the occupant is alert and oriented and can then take control of the vehicle  8 , if necessary. 
         [0016]    Parking Options 
         [0017]    An “Occupant Path” as that term is used herein means a vehicle  8  path selected according to occupant-inputted criteria, i.e., a desired path of the occupant to his or her destination. The computer  12  is typically programmed to receive the autonomous vehicle  8 , through its programming will attempt to accommodate such a route. 
         [0018]    An “Autonomous Park Location” as that term is used herein means a parking location that can be reached from a current vehicle  8  location while the vehicle  8  is autonomously operated given operating limits of the computer  12  based on data available to the computer  12 , and/or based on legal restrictions, e.g., a prohibited autonomous vehicle zone. An Autonomous Park Location is thus by definition within an operating range of the autonomous vehicle  8  (i.e., the vehicle  8  can reach the Autonomous Park Location from a present location) based on the vehicle&#39;s mechanical state and/or a system fault, available sensor data for navigation, legal restrictions, and possibly other factors. 
         [0019]    Autonomous Park Locations can be identified and collected in a database of the autonomous vehicle when the autonomous vehicle  8  repeatedly travels the same routes, for example, the autonomous vehicle  8  sensors can identify potential autonomous park locations and save the set of coordinates in the computer  12  memory. Alternatively and in addition to the vehicle  8  collecting autonomous park locations from its sensors, a server can provide a download of potential parking locations for the vehicle  8 , for example, when the vehicle  8  is an unfamiliar area that the vehicle  8  did not map. 
         [0020]    A “Conditional Boundary” as that term used herein means a planned destination (e.g., input as described above to define the Occupant Path) if that destination is an Autonomous Park Location, otherwise it is a closest possible Autonomous Park Location to the Occupant Path. For example, a Control Limit Destination can be a closest location to the occupant&#39;s destination without violating applicable law or regulation, and is said to have a geo-fence around it. A geo-fence is a virtual fence surrounding an area, such as a country or a state that forbids autonomous operation of a vehicle. For example, an adjoining country or state may not permit autonomous vehicle  8  operations. In this scenario, the autonomous vehicle  8  could simply park the autonomous vehicle  8  at a parking facility near a border defining a change in legal restrictions or ask the occupant if he or she wishes to continue manually the drive into the adjoining country or a state. 
         [0021]    A “Nearest Park Location” as that term is used herein means a nearest Autonomous Park Location. Often, the Nearest Park Location is an autonomous parking location facility that an occupant regards as less convenient than other Autonomous Park Locations that may be closer to the Occupant Path, to needed services, etc. However, depending on weather, a vehicle  8  mechanical state, or other factors affecting vehicle  8  operation, the Nearest Park Location can be the safest and the quickest alternative were an situation were to occur. 
         [0022]    The “Transition Park Location” as that term is used herein means “nearest Autonomous Park Location that provides sufficient time for the operator to assume complete control of the vehicle  8  without deviating significantly from the path towards the Occupant Destination.” Thus, a Transition Park Location is a parking area in which the occupant of the vehicle  8  can transition from passive occupant to driver/operator of the vehicle  8 . For example, the occupant may be located in a rear seat of the vehicle  8 , and may need to be able to safely exit and re-enter the vehicle  8  to transition to a driver&#39;s seat to operate the vehicle  8 . 
         [0023]    Vehicle Fault Severity Levels 
         [0024]    RADAR, LIDAR and computer vision (CV) systems are optical sensor systems typically installed on AVs. Together with other sensors they are capable of providing kinematic information about a vehicle  8 , e.g., position, velocity, acceleration and physical information about surroundings, e.g., obstacles, road signs, pedestrians, etc. The information from the sensors feeds into a sensor integrator subsystem which filters and integrates data from all vehicle  8  sensors. Detectable anomalies and erroneous data are typically filtered at this stage. 
         [0025]    The sensor input data is sent to a state estimator which performs additional filtering and can estimate the current state of the vehicle  8 . This state data is can be sent to the navigation computer  14  which acts as a high-level controller for the individual control algorithms related to degrees of freedom of the vehicle  8 , e.g., velocity, heading, etc. The navigation computer  14  handles the high level control of the autonomous vehicle  8  navigation. In the event of an optical sensor failure, the data passed on to the state estimator will be either corrupt or missing, generating a biased position estimate for the navigation computer  14 . The navigation computer  14  relies on this data to know where in the world the vehicle  8  is with respect to the waypoints, so a simple LIDAR failure could result in the navigation module thinking that the vehicle  8  is only 10 meters away from the target when in reality it is 100 meters away 
         [0026]    Incorrect operation of vehicle  8  may result in mishaps of various severity levels. Table I is an example of identified risks and a quantified number representing the measure of potential consequence of a hazard representing both the likelihood and the severity of something bad or undesired happening. During the hazard identification stage, hazards are classified according to their risks. A Preliminary Hazard Analysis (PHA) is the starting point to classify these hazards. As with most safety critical systems, the autonomous vehicle  8  system hazards can be classified in a qualitative manner, using pre-defined arbitrary categories known as risk classes computed as a product of severity and the likelihood of occurrence. 
         [0000]    
       
         
               
             
               
               
             
           
               
                 TABLE 1 
               
             
             
               
                   
               
               
                 Mishap Severity Levels 
               
             
          
           
               
                 Severity 
                   
               
               
                 Level 
                 Description 
               
               
                   
               
               
                 1 
                 No loss of any kind 
               
               
                 2 
                 Minor property loss (low cost hardware parts) 
               
               
                 3 
                 Major property loss, damage to the environment 
               
               
                 4 
                 Loss of critical hardware, human injuries, major damage to the 
               
               
                   
                 environment 
               
               
                 5 
                 Catastrophic loss of life, loss of the entire autonomous vehicle 
               
               
                   
                 system, serious environment damage 
               
               
                   
               
             
          
         
       
     
         [0027]    Table 2 is an exemplary list of hazards and faults for LIDAR, RADAR and CV subsystem, including an enumeration of the hazard&#39;s severity level. From a safety standpoint, hazards become the source for safety requirements. Typically, loss of any system functionality may lead to a hazard, e.g., the laser head of the LIDAR system stops rotating due to mechanical failure. The loss of functionality usually allows identifying the specific hazard. In turn, the hazard identification allows determining a control measure to be established to prevent or control this hazard, e.g., parking the vehicle  8  when a hazard is identified. 
         [0000]    
       
         
               
             
               
               
               
               
               
             
           
               
                 TABLE 2 
               
             
             
               
                   
               
               
                 Examples of severity levels 
               
             
          
           
               
                   
                   
                   
                   
                 Severity 
               
               
                 Item 
                 Sub-item 
                 Fault Condition 
                 Hazard 
                 Level 
               
               
                   
               
               
                 LIDAR 
                 Position 
                 Fails to read 
                 Mirror Motor 
                 4 
               
               
                   
                 Encoder 
                 position data 
                 Malfunction 
               
               
                 LIDAR 
                 Electrical 
                 Short circuit 
                 Electrical 
                 4 
               
               
                   
                   
                   
                 Failure 
               
               
                 LIDAR 
                 Electrical 
                 Overvoltage 
                 Electrical 
                 4 
               
               
                   
                   
                   
                 Failure 
               
               
                 LIDAR 
                 Optical 
                 Misalignment 
                 Optical 
                 3 
               
               
                   
                 Receiver 
                   
                 Receiver 
               
               
                   
                   
                   
                 Error 
               
               
                 LIDAR 
                 Optical 
                 Damaged 
                 Optical 
                 3 
               
               
                   
                 Filter 
                   
                 Receiver 
               
               
                   
                   
                   
                 Error 
               
               
                 LIDAR 
                 Mirror 
                 Malfunction 
                 LIDAR Failure 
                 4 
               
               
                   
                 Motor 
               
               
                 LIDAR 
                 Mirror 
                 Malfunction 
                 Laser Radiation 
                 4 
               
               
                   
                 Motor 
               
               
                 CV 
                 Camera 
                 Misalignment 
                 CV Failure 
                 3 
               
               
                 CV 
                 IR Filter 
                 Missing 
                 CV Failure 
                 3 
               
               
                 CV 
                 Lens 
                 Damaged 
                 CV Failure 
                 3 
               
               
                 CV 
                 Camera 
                 Improper 
                 CV Failure 
                 3 
               
               
                   
                   
                 Lighting 
               
               
                 Navigation 
                 N/A 
                 LIDAR Failure 
                 Navigational 
                 4 
               
               
                 Computer 
                   
                   
                 Failure 
               
               
                 Navigation 
                 N/A 
                 CV Failure 
                 Navigational 
                 4 
               
               
                 Computer 
                   
                   
                 Failure 
               
               
                 Navigation 
                 N/A 
                 Navigational 
                 Property 
                 5 
               
               
                 Computer 
                   
                 Failure 
                 Damage 
               
               
                 Navigation 
                 N/A 
                 Navigational 
                 Vehicle 
                 5 
               
               
                 Computer 
                   
                 Failure 
                 Damage 
               
               
                 Navigation 
                 N/A 
                 Navigational 
                 Pedestrian 
                 5 
               
               
                 Computer 
                   
                 Failure 
                 Damage 
               
               
                   
               
             
          
         
       
     
         [0028]    Process Flows 
         [0029]      FIG. 2  is a flow chart illustrating an exemplary process  100  that can be executed according to programming in a vehicle  8  computer  12  to determine if the vehicle  8  can be operated in an autonomous mode. 
         [0030]    The process  100  begins in a block  105 , which can also follow a block  110  as described below. The computer  12  evaluates whether conditions are acceptable for autonomous (including semi-autonomous) operation. For example, acceptable conditions can exist when faults are not reported from any of the vehicle  8  controller computers  14 - 22 , and/or reported faults do not prevent autonomous vehicle  8  operation, that is the navigation computer  14 , the braking controls computer  16 , the propulsion control computer  18 , the biometric monitor computer  20 , the steering computer  22  and a telematics unit  24  all indicate that their respective systems of sensors and actuators are operating within non-fault parameters, i.e., within parameters acceptable for autonomous operation. For example, if one or more sensors to detect objects, e.g. an image sensor, a lidar sensor, a radar sensor, an ultrasonic sensors, etc., reported failure, then the computer  12  could determine that parameters were such that autonomous operation could not be carried out. To take another example, the computer  12  could determine that a navigation computer  14  was unable to determine a route and/or unable to determine the vehicle  8  geolocation, either of which could indicate that autonomous operation of the vehicle  8  could not be carried out. When the vehicle  8  is operating without detected faults, or at least without faults outside of parameters acceptable for autonomous operation, the vehicle  8  may be referred to herein as operating “nominally.” 
         [0031]    Next in the block  110 , which can follow the block  105  or a block  130 , if the evaluation of the block  105  is that conditions are acceptable for autonomous or semi-autonomous operation, then next a block  115  is executed, else the process  100  returns to the block  105  to await correction of a detected fault or, alternatively (and not as shown in  FIG. 2 ) ends. 
         [0032]    Next, in the block  115 , the navigation computer  14  determines the geolocation of the vehicle  8 , for example from signals from Global Navigation Satellite System (GNSS). A geolocation, as is known, can be expressed as coordinates, e.g., latitude and longitude coordinates. 
         [0033]    Next, in a block  120 , the computer  12 , using the current vehicle geographical location, will locate at least one potential Autonomous Park Location and whether the parking position is available and can accommodate the vehicle  8 . It is important that the parking space is proximate to, i.e., within a predetermined threshold distance of, the current geographical position or geographical positions along the Occupant Path. For example, an Autonomous Park Location may have been identified by the vehicle  8  when the vehicle  8  previously traversed the same route as part of the vehicle  8  ongoing mapping of potential parking positions. The Autonomous Park Location can be further identified as a set of geo-coordinates describing the parking space in a parking lot, for example, at a rest stop, an area on a road shoulder, a parking garage, etc. Additionally, a list of available potential Autonomous Park Locations can be sent to the computer  12  after it sends a request to a server  17  via a remote network  19 . The server  17  can act as a database for parking locations, for example, when other vehicles traversing the same routes collect the parking location information, the other vehicles can upload this information to the server  17  via the remote network  19 . 
         [0034]    Further, the predetermined distance that defines whether a potential Autonomous Park Location is proximate to the vehicle  8  can be adjusted by the computer  12 . For example, the predetermined distance could default to a distance deemed to be safe for a vehicle  8  to traverse to come to a stop and park in the event of a disabling fault, e.g., 10 meters, 100 meters, etc. 
         [0035]    However, the distance could be changed based on conditions, e.g., cut by a factor of, e.g., ½ (e.g., 100 meters becomes 50 meters) in the absence of daylight, in the presence of precipitation, in the presence of traffic above a predetermined density (i.e., a number of vehicle passing a point in a road in a period of time), the seriousness of a systems fault, etc. 
         [0036]    Next, in a block  125 , another check is made to determine whether vehicle  8  operations are nominal. For example, the computer  12  may determine there is a system fault with the vehicle  8  which would warrant diverting the vehicle  8  from its current route and park the vehicle  8  in a parking area, for example, at the Nearest Park Location. Examples of deviation from nominal operation can be found in Table 2. For example, the Navigation Computer  14  may stop working, which is considered a major navigational failure which could result in property damage. This type of major fault can be considered a “5” on the severity scale of 1 to 5, which would result in parking the vehicle  8  as quickly as possible so the fault can be addressed and corrected. 
         [0037]    In a second example, the computer  12  may detect that the vehicle  8  is approaching a known problem area, for example, the computer  12  may detect that the vehicle  8  is approaching an area in which applicable law or regulation forbids autonomous vehicle  8  operation and the area has a virtual geo-fence around the area to restrict the vehicle  8  from the area. The computer  12  can route then route the autonomous vehicle  8  to the Control Limit Destination and park the autonomous vehicle  8 . 
         [0038]    In a third example, the vehicle  8  may be entering an unknown area or an unexplored area. An unknown area is an area where the vehicle  8  may have traveled previously, but most likely the computer  12  data regarding parking areas is outdated. An unexplored area is an area where the vehicle  8  has not traveled before, so there is no parking area data available. In either case, the computer  12  will either have to park the vehicle  8  at the boundary area. Alternatively, the vehicle  8  can request parking information from the server  17  for the unexplored area, and using the downloaded parking data continue on its journey. Additionally, while traveling through the unexplored area, the vehicle  8  can augment its parking data by collecting its own parking information and storing in memory of the computer  12  and possibly uploading the data to the server  17  at a later time. 
         [0039]    Next, in the block  130 , the computer  12  determines if the vehicle  8  operations or external factors are nominal, for example, the vehicle  8  is operating without detected faults, or at least without faults outside of parameters acceptable for autonomous operation. If vehicle  8  operations are nominal, the process  100  returns to the block  115 , else the process  100  continues to a block  135 . 
         [0040]    In a block  135 , the computer  12  analyzes the system fault to determine a severity threshold or level as described above in which the vehicle  8  must park itself or relinquish control to the occupant. The computer  12  can determine that one or more vehicle  8  systems are operating outside of acceptable parameters, for example, the steering computer  22  may indicate a system fault with a steering motor that is overheating, in which case the autonomous vehicle  8  should be parked as quickly as possible to avoid damage to the motor and loss of control of the vehicle  8 . Alternatively, the vehicle  8  may be approaching an area in which operation in which autonomous mode is forbidden or the vehicle  8  may be approaching a weather zone or a traffic zone in which operation can be hazardous or difficult to traverse. The computer  12 , based upon the severity of the system fault or condition, can then determine if further autonomous operation is acceptable or if the vehicle  8  operations should be relinquished to the operator. 
         [0041]    Next, in a block  140  the computer  12 , based upon the severity threshold, the process  100  will continue with or cease autonomous vehicle  8  operation. Next in the block  115  will be executed if autonomous operations is to continue, else next in a block  145  will be executed if autonomous operations is to cease. 
         [0042]    In the block  145 , the computer  12 , depending on the severity of the fault can instruct the vehicle  8  to park at the Nearest Park Location or continue to the Autonomous Park Location, and the process  100  ends. 
         [0043]      FIG. 3  is a flow chart illustrating an exemplary process  151  that can be executed according to programming in the computer  12  to determine an occupant status and whether the occupant is able and willing to take control of the autonomous vehicle  8  in the event of a failure of nominal vehicle  8  operation. 
         [0044]    The process  151  begins in a block  155 , in which the computer  12  receives data from the biometric monitor computer  20  concerning the condition of the vehicle  8  occupant. The biometric data can include, for example, whether the occupant&#39;s eyes are closed and whether the occupant is sleeping. Various techniques are known and may be used for determining whether an occupant is drowsy, asleep, incapacitated due to drugs or alcohol, etc. 
         [0045]    Next in a block  160 , a determination is made by the computer  12  concerning the occupant&#39;s condition, for example, the data from the biometric computer  20  can indicate that the occupant is alert and orientated and is able, if need be, to take over vehicle  8  controls and next in a block  165  is then executed. If the computer  12  determines the occupant is not alert and orientated, next in a block  195  is then executed. 
         [0046]    Next, in the block  165 , the computer  12  queries the occupant to see if the occupant wants the vehicle  8  to transfer control or transition control of the autonomous vehicle  8  to the occupant. The query, for example, can be sent to a wearable device on the occupant or to a human machine interface (HMI) in the vehicle  8 . Alternatively, the occupant can initiate a request to the vehicle control computer  12  requesting the control of the vehicle  8 . The request, for example, can be sent from a wearable device on the occupant or from the HMI in the vehicle  8 . 
         [0047]    Next, in the block  170 , the computer  12  makes a determination regarding the occupant&#39;s desire to operate the vehicle  8  based upon the occupant&#39;s response to the query from in the block  165  or the occupant&#39;s request to take control of the vehicle  8 . If the occupant wants to take over the operation of the autonomous vehicle  8 , next a block  175  is executed, else in the block  195  is executed. 
         [0048]    Next, in the block  175 , the computer  12  updates the occupant with a vehicle  8  status, for example, where the vehicle  8  is located, a vehicle  8  status, for example, the issue detected with the vehicle  8 , the current route, the location of potential parking areas, etc. 
         [0049]    Next in a block  180 , the computer  12  can releases some or all control of the vehicle  8  to the occupant. 
         [0050]    In the block  185 , which can follow in the block  180  or in a block  190 , the computer  12  determines if the occupant&#39;s operation of the vehicle  8  is acceptable. In one scenario, the computer  12  continues to control the vehicle  8  while monitoring the occupant&#39;s propulsion, steering, and braking input to the corresponding controls. The computer  12  can compare an input of propulsion, steering, and braking as provided by the occupant to what the computer  12  has determined as appropriate for the propulsion, steering, and braking controls for the current road conditions, weather conditions, traffic conditions, etc. The computer  12  can then methodically release control of the vehicle  8  to the occupant, for example, first giving the occupant steering control, then propulsion control some time later and finally braking control once the occupant has established that the occupant can safely control the vehicle  8 . 
         [0051]    Furthermore, once the occupant has control of the vehicle  8 , the computer  12  can persistently monitor the occupant&#39;s operation and determine if the computer  12  should retake control of the vehicle. This could occur, for example, when the occupant gets drowsy and crosses over a center line in the roadway. 
         [0052]    Next in the block  190 , the computer  12  determines if the occupant of the vehicle  8 , who is currently driving if “all right.” The computer  12  can use biometric data, e.g., the occupant is closing their eyes or the computer  12  can make the determination from the manner the occupant is operating the vehicle  8 , as discussed above in the block  185 . If the compute  12  determines the occupant is “all right,” the process returns to in the block  185 , else the process continues to in the block  195 . 
         [0053]    In the block  195 , which can be entered into from any of the blocks  160 ,  170  or  190  the computer  12  continues or returns to autonomous mode of operation and instructs the vehicle  8  to either park at the Nearest Park Location or continue to the Autonomous Park Location, and the process  151  ends. 
         [0054]    Conclusion 
         [0055]    As used herein, the adverb “substantially” modifying an adjective means that a shape, structure, measurement, value, calculation, etc. may deviate from an exact described geometry, distance, measurement, value, calculation, etc., because of imperfections in the materials, machining, manufacturing, sensor measurements, computations, processing time, communications time, etc. 
         [0056]    Computing devices such as those discussed herein generally each include instructions executable by one or more computing devices such as those identified above, and for carrying out blocks or steps of processes described above. Computer executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, Java™, C, C++, C#, Visual Basic, Python, Java Script, Perl, HTML, PHP, etc. In general, a processor (e.g., a microprocessor) receives instructions, e.g., from a memory, a computer readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data may be stored and transmitted using a variety of computer readable media. A file in a computing device is generally a collection of data stored on a computer readable medium, such as a storage medium, a random access memory, etc. 
         [0057]    A computer readable medium includes any medium that participates in providing data (e.g., instructions), which may be read by a computer. Such a medium may take many forms, including, but not limited to, non-volatile media, volatile media, etc. Non-volatile media include, for example, optical or magnetic disks and other persistent memory. Volatile media include dynamic random access memory (DRAM), which typically constitutes a main memory. Common forms of computer readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read. 
         [0058]    With regard to the media, processes, systems, methods, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes could be practiced with the described steps performed in an order other than the order described herein. It further should be understood that certain steps could be performed simultaneously, that other steps could be added, or that certain steps described herein could be omitted. In other words, the descriptions of systems and/or processes herein are provided for the purpose of illustrating certain embodiments, and should in no way be construed so as to limit the disclosed subject matter. 
         [0059]    Accordingly, it is to be understood that the above description is intended to be illustrative and not restrictive. Many embodiments and applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the invention should be determined, not with reference to the above description, but should instead be determined with reference to claims appended hereto and/or included in a non-provisional patent application based hereon, along with the full scope of equivalents to which such claims are entitled. It is anticipated and intended that future developments will occur in the arts discussed herein, and that the disclosed systems and methods will be incorporated into such future embodiments. In sum, it should be understood that the disclosed subject matter is capable of modification and variation.