Determining and displaying auto drive lanes in an autonomous vehicle

Aspects of the present disclosure relate generally to identifying and displaying traffic lanes that are available for autonomous driving. This information may be displayed to a driver of a vehicle having an autonomous driving mode, in order to inform the driver of where he or she can use the autonomous driving mode. In one example, the display may visually distinguishing between lanes that are available for auto-drive from those that are not. The display may also include an indicator of the position of a lane (autodrive or not) currently occupied by the vehicle. In addition, if that lane is an autodrive lane the display may include information indicating how much further the vehicle may continue in the autonomous driving mode in that particular lane. The display may also display information indicating the remaining autodrive distance in other lanes as well as the lane with the greatest remaining autodrive distance.

BACKGROUND

Autonomous vehicles use various computing systems to aid in the transport of passengers from one location to another. Some autonomous vehicles may require some initial input or continuous input from an operator, such as a pilot, driver, or passenger. Other systems, for example autopilot systems, may be used only when the system has been engaged, which permits the operator to switch from a manual driving mode (where the operator exercises a high degree of control over the movement of the vehicle) to an autonomous driving mode (where the vehicle essentially drives itself) to modes that lie somewhere in between.

Such vehicles may rely on highly-detailed maps in order to make driving decisions. In some examples, these maps may include information about the location of lanes for driving. Some non-autonomous navigation systems provide users with instructions for driving a vehicle along a route between locations. These systems may also display information regarding lanes and also highlight or otherwise indicate which lane is appropriate for a particular route. For example, if the route includes a turn, these systems may indicate a specific lane for the vehicle in order to position the vehicle for the turn.

BRIEF SUMMARY

One aspect of the disclosure provides a method. The method includes receiving data from a geographic position component; determining a current location of a vehicle from the received data; using the current location to access detailed map information identifying the location of autodrive lanes, wherein each autodrive lane is a lane of a roadway pre-approved for an autonomous driving mode of the vehicle, the autonomous driving mode allowing a driver to relinquish control of the vehicle to a computer; identifying one or more of the autodrive lanes currently available for autonomous driving; using, by a processor, the identified one or more autodrive lanes to generate autodrive information; generating, by the processor, display information based on the autodrive information, the display information including lanes and identifying which of the lanes are of the one or more autodrive lanes; and displaying, on a display of the vehicle, the display information.

In one example, the method also includes determining which lane the vehicle is currently located, and the display information includes an indicator indicating the lane in which the vehicle is currently located. In another example, the method also includes determining whether the vehicle is currently in a particular one of the one or more of the autodrive lanes; when the vehicle is currently in the particular autodrive lane, determining a remaining distance in the particular autodrive lane available for the autonomous driving mode based on the detailed map information; and wherein the display information includes distance data indicating the remaining distance. In this example, the method also includes generating a route for navigating the vehicle and determining the remaining distance is also based on the route. The method also includes identifying an icon for the remaining distance based on the route, and wherein the display information includes the icon for the remaining distance. Alternatively, determining the remaining distance is also based on the traffic information, the method also includes identifying an icon for the remaining distance based on the traffic information, and the display information includes the icon for the remaining distance.

In another example, the method also includes determining, for each of the one or more of the autodrive lanes, a remaining distance available for the autonomous driving mode; identifying, based on the determinate remaining distances, a longest lane available for the autonomous driving mode; and the display information includes an indicator identifying the longest lane available for the autonomous driving mode. In another example, the lanes of the display information include at least one lane that is not available for autonomous driving, and the lanes of the one or more autodrive lanes are depicted in a color different from a color of the at least one lane that is not available for autonomous driving.

Another aspect of the disclosure provides a system. The system includes a display for displaying information to a driver and a processor. The processor is configured to receive data from a geographic position component; determine a current location of a vehicle from the received data; use the current location to access detailed map information identifying the location of autodrive lanes, wherein each autodrive lane is a lane of a roadway pre-approved for an autonomous driving mode of the vehicle, the autonomous driving mode allowing a driver to relinquish control of the vehicle to a computer; identify one or more of the autodrive lanes currently available for autonomous driving; use the identified one or more autodrive lanes to generate autodrive information; generate display information based on the autodrive information, the display information including lanes and identifying which of the lanes are of the one or more autodrive lanes; and displaying, on the display, the display information.

In one example, the processor is also configured to determine in which lane the vehicle is currently located, and the display information includes an indicator indicating the lane in which the vehicle is currently located. In another example, the processor is also configured to determine whether the vehicle is currently in a particular one of the one or more of the autodrive lanes; when the vehicle is currently in the particular autodrive lane, determine a remaining distance in the particular autodrive lane available for the autonomous driving mode based on the detailed map information; and the display information includes distance data indicating the remaining distance. In this example, the processor is also configured to generate a route for navigating the vehicle, and determining the remaining distance is also based on the route. The processor is also configured to identify an icon for the remaining distance based on the route, and the display information includes the icon for the remaining distance. Alternatively, determining the remaining distance is also based on the traffic information, and the processor is also configured to identify an icon for the remaining distance based on the traffic information, and the display information includes the icon for the remaining distance.

In another example, the processor is also configured to determine, for each of the one or more of the autodrive lanes, a remaining distance available for the autonomous driving mode; and identify, based on the determinate remaining distances, a longest lane available for the autonomous driving mode; and the display information includes an indicator identifying the longest lane available for the autonomous driving mode. In another example, the lanes of the display information include at least one lane that is not available for autonomous driving, and the lanes of the one or more autodrive lanes are depicted in a color different from a color of the at least one lane that is not available for autonomous driving.

A further aspect of the disclosure provides a non-transitory, tangible 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. The method includes receiving data from a geographic position component; determining a current location of a vehicle from the received data; using the current location to access detailed map information identifying the location of autodrive lanes, wherein each autodrive lane is a lane of a roadway pre-approved for an autonomous driving mode of the vehicle, the autonomous driving mode allowing a driver to relinquish control of the vehicle to a computer; identifying one or more of the autodrive lanes currently available for autonomous driving; using the identified one or more autodrive lanes to generate autodrive information; generating display information based on the autodrive information, the display information including lanes and identifying which of the lanes are of the one or more autodrive lanes; and displaying, on a display of the vehicle, the display information.

In one example, the method also includes determining which lane the vehicle is currently located, and the display information includes an indicator indicating the lane in which the vehicle is currently located. In another example, the method also includes determining whether the vehicle is currently in a particular one of the one or more of the autodrive lanes; when the vehicle is currently in the particular autodrive lane, determining a remaining distance in the particular autodrive lane available for the autonomous driving mode based on the detailed map information; and the display information includes distance data indicating the remaining distance. In this example, the method also includes generating a route for navigating the vehicle, and determining the remaining distance is also based on the route. The method also includes identifying an icon for the remaining distance based on the route, and wherein the display information includes the icon for the remaining distance. Alternatively, determining the remaining distance is also based on the traffic information, and the method also includes identifying an icon for the remaining distance based on the traffic information, and the display information includes the icon for the remaining distance.

In another example, the method also includes determining, for each of the one or more of the autodrive lanes, a remaining distance available for the autonomous driving mode; identifying, based on the determinate remaining distances, a longest lane available for the autonomous driving mode; and the display information includes an indicator identifying the longest lane available for the autonomous driving mode. In another example, the lanes of the display information include at least one lane that is not available for autonomous driving, and wherein the lanes of the one or more autodrive lanes are depicted in a color different from a color of the at least one lane that is not available for autonomous driving.

DETAILED DESCRIPTION

In one aspect of the disclosure a computer may receive data from a geographic position component. The received data may be used to determine a current location of a vehicle. The current location may be used to access detailed map information and identify the location of “autodrive” lanes. As described in more detail below, autodrive lanes include lanes which are pre-approved for an autonomous driving mode where a driver is able to relinquish control of a vehicle to a computer.

The computer then identifies one or more of the autodrive lanes which are currently available for autonomous driving. The one or more of the identified autodrive lanes are used to generate autodrive information. As described in more detail below, the autodrive information may include information such as a number of lanes, which of those lanes is available or not available for an autonomous driving mode, the current location of the vehicle with regard to the lanes, whether the vehicle is currently in an available autodrive lane or a non-autodrive lane, the remaining distance of the lanes (such as the lane in which the vehicle is currently) for the autonomous driving mode, the longest lane available for the autonomous driving mode, etc. The computer may then generate display information based on the autodrive information and display the display information to a driver.

As shown inFIG. 1, an autonomous driving system100may include a vehicle101with various components. While certain aspects of the disclosure are particularly useful in connection with specific types of vehicles, the vehicle may be any type of vehicle including, but not limited to, cars, trucks, motorcycles, busses, boats, airplanes, helicopters, lawnmowers, recreational vehicles, amusement park vehicles, farm equipment, construction equipment, trams, golf carts, trains, and trolleys. The vehicle may have one or more computers, such as computer110containing a processor120, memory130and other components typically present in general purpose computers.

The data134may be retrieved, stored or modified by processor120in accordance with the instructions132. For instance, although the claimed subject matter is not limited by any particular data structure, the data may be stored in computer registers, in a relational database as a table having a plurality of different fields and records, XML documents or flat files. The data may also be formatted in any computer-readable format. By further way of example only, image data may be stored as bitmaps including of grids of pixels that are stored in accordance with formats that are compressed or uncompressed, lossless (e.g., BMP) or lossy (e.g., JPEG), and bitmap or vector-based (e.g., SVG), as well as computer instructions for drawing graphics. The data may include any information sufficient to identify the relevant information, such as numbers, descriptive text, proprietary codes, references to data stored in other areas of the same memory or different memories (including other network locations) or information that is used by a function to calculate the relevant data.

The processor120may be any conventional processor, such as commercially available CPUs. Alternatively, the processor may be a dedicated device such as an ASIC or other hardware-based processor. AlthoughFIG. 1functionally illustrates the processor, memory, and other elements of computer110as being within the same block, it will be understood by those of ordinary skill in the art that the processor, computer, or memory may actually include multiple processors, computers, or memories that may or may not be stored within the same physical housing. For example, memory may be a hard drive or other storage media located in a housing different from that of computer110. Accordingly, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Rather than using a single processor to perform the steps described herein, some of the components, such as steering components and deceleration components, may each have their own processor that only performs calculations related to the component's specific function.

In various aspects described herein, the processor may be located remote from the vehicle and communicate with the vehicle wirelessly. In other aspects, some of the processes described herein are executed on a processor disposed within the vehicle and others by a remote processor, including taking the steps necessary to execute a single maneuver.

Computer110may include all of the components normally used in connection with a computer such as a central processing unit (CPU), memory (e.g., RAM and internal hard drives) storing data134and instructions such as a web browser, an electronic display152(e.g., a monitor having a screen, a small LCD touch-screen or any other electrical device that is operable to display information), user input150(e.g., a mouse, keyboard, touch screen and/or microphone), as well as various sensors (e.g., a video camera) for gathering explicit (e.g., a gesture) or implicit (e.g., “the person is asleep”) information about the states and desires of a person.

In one example, computer110may be an autonomous driving computing system incorporated into vehicle101.FIG. 2depicts an exemplary design of the interior of an autonomous vehicle. The autonomous vehicle may include all of the features of a non-autonomous vehicle, for example: a steering apparatus, such as steering wheel210; a navigation display apparatus, such as navigation display215(which may be a part of electronic display152); and a gear selector apparatus, such as gear shifter220. The vehicle may also have various user input devices140in addition to the foregoing, such as touch screen217(again, which may be a part of electronic display152), or button inputs219, for activating or deactivating one or more autonomous driving modes and for enabling a driver or passenger290to provide information, such as a navigation destination, to the autonomous driving computer110.

The autonomous driving computing system may capable of communicating with various components of the vehicle. For example, returning toFIG. 1, computer110may be in communication with the vehicle's central processor160and may send and receive information from the various systems of vehicle101, for example the braking system180, acceleration system182, signaling system184, and navigation system186systems in order to control the movement, speed, etc. of vehicle101. In one example, the vehicle's central processor160may perform all of the functions of a central processor in a non-autonomous computer. In another example, processor120and160may comprise a single processing device or multiple processing devices operating in parallel.

In addition, when engaged, computer110may control some or all of these functions of vehicle101and thus be fully or partially autonomous. It will be understood that although various systems and computer110are shown within vehicle101, these elements may be external to vehicle101or physically separated by large distances.

The vehicle may also include a geographic position component144in communication with computer110for determining the geographic location of the device. For example, the position component may include a GPS receiver to determine the device's latitude, longitude and/or altitude position. Other location systems such as laser-based localization systems, inertial-aided GPS, or camera-based localization may also be used to identify the location of the vehicle. The location of the vehicle may include an absolute geographical location, such as latitude, longitude, and altitude as well as relative location information, such as location relative to other cars immediately around it which can often be determined with better accuracy than absolute geographical location.

The vehicle may also include other devices in communication with computer110, such as an accelerometer, gyroscope or another direction/speed detection device146to determine the direction and speed of the vehicle or changes thereto. By way of example only, acceleration device146may determine its pitch, yaw or roll (or changes thereto) relative to the direction of gravity or a plane perpendicular thereto. The device may also track increases or decreases in speed and the direction of such changes. The device's provision of location and orientation data as set forth herein may be provided automatically to the user, computer110, other computers and combinations of the foregoing.

The computer110may control the direction and speed of the vehicle by controlling various components. By way of example, if the vehicle is operating in a completely autonomous driving mode, computer110may cause the vehicle to accelerate (e.g., by increasing fuel or other energy provided to the engine), decelerate (e.g., by decreasing the fuel supplied to the engine or by applying brakes) and change direction (e.g., by turning the front two wheels).

The vehicle may also include components for detecting objects external to the vehicle such as other vehicles, obstacles in the roadway, traffic signals, signs, trees, etc. The detection system154may include lasers, sonar, radar, cameras or any other detection devices which record data which may be processed by computer110. For example, if the vehicle is a small passenger vehicle, the car may include a laser mounted on the roof or other convenient location.

As shown inFIG. 3, vehicle101may include a small passenger vehicle having lasers310and311, mounted on the front and top of the vehicle, respectively. In one example, laser310may have a range of approximately 150 meters, a thirty degree vertical field of view, and approximately a thirty degree horizontal field of view. Laser311may have a range of approximately 50-80 meters, a thirty degree vertical field of view, and a 360 degree horizontal field of view. The lasers may provide the vehicle with range and intensity information which the computer may use to identify the location and distance of various objects. In one aspect, the lasers may measure the distance between the vehicle and the object surfaces facing the vehicle by spinning on its axis and changing its pitch.

The vehicle may also include various radar detection units, such as those used for adaptive cruise control systems. The radar detection units may be located on the front and back of the car as well as on either side of the front bumper. As shown in the example ofFIG. 3, vehicle101includes radar detection units320-323located on the side (only one side being shown), front and rear of the vehicle. In this example, each of these radar detection units may have a range of approximately 200 meters for an approximately 18 degree field of view as well as a range of approximately 60 meters for an approximately 56 degree field of view.

In another example, a variety of cameras may be mounted on the vehicle. The cameras may be mounted at predetermined distances so that the parallax from the images of 2 or more cameras may be used to compute the distance to various objects. As shown inFIG. 3, vehicle101may include 2 cameras330-331mounted under a windshield340near the rear view mirror (not shown). Camera330may include a range of approximately 200 meters and an approximately 30 degree horizontal field of view, while camera331may include a range of approximately 100 meters and an approximately 60 degree horizontal field of view.

In addition to the sensors described above, the computer may also use input from other sensors and features typical to non-autonomous vehicles. For example, these other sensors and features may include tire pressure sensors, engine temperature sensors, brake heat sensors, break pad status sensors, tire tread sensors, fuel sensors, oil level and quality sensors, air quality sensors (for detecting temperature, humidity, or particulates in the air), door sensors, lights, wipers, etc. This information may be provided directly from these sensors and features or via the vehicle's central processor160.

Many of these sensors provide data that is processed by the computer in real-time, that is, the sensors may continuously update their output to reflect the environment being sensed at or over a range of time, and continuously or as-demanded provide that updated output to the computer so that the computer can determine whether the vehicle's then-current direction or speed should be modified in response to the sensed environment.

In addition to processing data provided by the various sensors, the computer may rely on environmental data that was obtained at a previous point in time and is expected to persist regardless of the vehicle's presence in the environment. For example, returning toFIG. 1, data134may include detailed map information136, e.g., highly detailed maps identifying the shape and elevation of roadways, lane lines, intersections, crosswalks, speed limits, traffic signals, buildings, signs, real time traffic information, vegetation, or other such objects and information. For example, the map information may include explicit speed limit information associated with various roadway segments. The speed limit data may be entered manually or scanned from previously taken images of a speed limit sign using, for example, optical-character recognition.

FIG. 5is an example of map information500for highway400ofFIG. 4. Map information includes data indicating the location and orientation of the various features of highway400. For example, map information500includes northbound lane data510-512identifying northbound lanes410-412as well as southbound lane data520-522identifying southbound lanes420-22. Map information500also includes broken lane line data530-33and solid lane line data540-43representing broken lane lines430-33and solid lane lines440-43. Shoulders450-51are also represented by shoulder data550-551. Barriers460-61are represented by barrier data560-61, and median470is represented by median data570.

The map information may also include three-dimensional terrain maps incorporating one or more of objects listed above. For example, the vehicle may determine that another object, such as a vehicle, is expected to turn based on real-time data (e.g., using its sensors to determine the current geolocation such as a GPS position of another vehicle and whether a turn signal is blinking) and other data (e.g., comparing the GPS position with previously-stored lane-specific map data to determine whether the other vehicle is within a turn lane).

The map information136may also include autodrive zones such as lanes, roadways, areas, etc. that are currently available for autonomous driving. Autodrive zones may include for examples, areas within the map information which have been pre-approved or otherwise designated for initiating or continuing driving in an autonomous driving mode. These areas may include, for example, specific lanes on a highway, residential streets, etc. In this regard, autodrive zones may include pre-determined autodrive lanes. Areas which may be excluded from autodrive zones may include, by way of example only, acceleration lanes, exit lanes, merges, intersections, toll booths, known construction zones, and school zones and portions of roadways near such areas. Although computer110may restrict initiating the autonomous driving mode in areas which are not designated as autodrive zones, the computer110may actually be fully capable of maneuvering the vehicle through such areas or actually initiating the autonomous driving mode.

For example, map information600ofFIG. 600includes map information500and also autodrive zones610and620. In this example, autodrive zone610includes the southbound lanes430-32(represented by southbound lane data530-32) of highway400while autodrive zone620includes only a portion of the northbound lanes420-22(represented by northbound lane data520-522) of highway400. Autodrive zone610includes the zones of lanes410-22(represented by lanes data510-22); however, in this example, only lanes410(510) and411(511) include autodrive lanes611and612, respectively. Similarly, autodrive zone620includes portions of the zones of lanes420-22(represented by lanes520-22); however, in this example, only lanes421(521) and422(522) include autodrive lanes621and622, respectively. Thus, not all portions of highway400are autodrive zones, and not all lanes within autodrive zones are autodrive lanes.

Although the detailed map information136is depicted herein as an image-based map, the map information need not be entirely image based (for example, raster). For example, the map information may include one or more roadgraphs or graph networks of information such as roads, lanes, intersections, and the connections between these features. Each feature may be stored as graph data and may be associated with information such as a geographic location whether or not it is linked to other related features. For example, a stop sign may be linked to a road and an intersection. In some examples, the associated data may include grid-based indices of a roadgraph to promote efficient lookup of certain roadgraph features.

Computer110may also receive or transfer information to and from other computers. For example, the map information stored by computer110(such as the examples of map information500and600shown inFIGS. 5 and 6) may be received or transferred from other computers and/or the sensor data collected from the sensors of vehicle101may be transferred to another computer for processing as described herein. As shown inFIGS. 7A and 7B, data from computer110may be transmitted via a network to computer720for further processing.

The network, and intervening nodes, may include various configurations and protocols including the Internet, World Wide Web, intranets, virtual private networks, wide area networks, local networks, private networks using communication protocols proprietary to one or more companies, Ethernet, WiFi and HTTP, and various combinations of the foregoing. Such communication may be facilitated by any device capable of transmitting data to and from other computers, such as modems and wireless interfaces. In another example, data may be transferred by storing it on memory which may be accessed by or connected to computers110and720.

In one example, computer720may include a server having a plurality of computers, e.g., a load balanced server farm, that exchange information with different nodes of a network for the purpose of receiving, processing and transmitting the data to and from computer110. The server may be configured similarly to the computer110, with a processor730, memory740, instructions750, and data760.

Returning toFIG. 1, computer110may access autodrive display data138in order to display information relating to autodrive zones and/or autodrive lanes. As described in more detail below, the autodrive display data138may include display data for displaying the relative location, distance, availability, etc. of autodrive lanes.

Aspects of the present disclosure relate generally to identifying and displaying areas that are available for autonomous driving. In some examples, vehicle101may already be driving in an autonomous driving mode, while in other examples, vehicle101may be driving in a manual driving mode. While in either mode, computer110may use electronic display154to provide information to the driver regarding autodrive zones as well as autodrive lanes.

In one example, computer110may use data from geographic position component144to determine a current location of vehicle101. The current location of vehicle101may then be used to access a relevant portion of detailed map information160. This may include accessing information regarding autodrive zones and autodrive lanes. Depending upon the characteristics of the autodrive zones and autodrive data, and in some examples, a route selected by the driver, computer110may use autodrive display data to generate a display of relevant autodrive information.

For example, computer110may determine whether the vehicle is within an autodrive zone. If not, the autonomous driving mode may not be available to a driver of the vehicle. If the vehicle is within an autodrive zone, computer110may determine whether there are any available autodrive lanes in that autodrive zones.

An autodrive lane may be indicated as present in the detailed map information136as described above, but for some reason may not be available for the autonomous driving mode. Examples of such reasons may include where there is not enough of the autodrive lane available (e.g. there is only a half mile of roadway where the minimum to indicate an autodrive lane is one mile) as well as where there is an upcoming acceleration lane, exit lane, merge, intersection, toll booth, known construction zone, school zone, etc. The availability of an autodrive lane may also be based on a route selected by the driver. For example, if a driver inputs a destination and routing to that location would require the vehicle to pass through an area associated with any of the reasons above or to leave a particular lane to make a turn, this may be another reason why an autodrive lane included in detailed map information136is currently unavailable.

As noted above, once the autodrive information, including lanes available and not available for autonomous driving, is determined by computer110, computer110may generate a display based on the autodrive information using the autodrive display data138.FIGS. 8A and 8Bare example of display810depicting autodrive information820.FIG. 8Bincludes only a portion of display810depicting autodrive information820. Display810may be shown to a driver via any number of different types of displays, including, for example, display152. Display810ofFIG. 8Ais an example of information, including autodrive information820, that may be displayed to a driver when vehicle101is being driven in the manual driving mode.

FIGS. 8C and 8Dare examples of display860depicting autodrive information870. In this example, display860includes map information for the same autodrive zone as display810.FIG. 8Dincludes only a portion of display860depicting autodrive information870. As with display810, display860may be shown to a driver via any number of different types of displays, including, for example, display152. Display860ofFIG. 8Ais an example of information which may be displayed to a driver when vehicle101is ready to be driven in an autonomous driving mode or is being driven in the autonomous driving mode.

If the roadway includes multiple lanes, computer110may display lane information for only those lanes having the same direction of traffic. For example, as shown inFIG. 9, vehicle101is currently being driven in lane510of detailed map information600. In this example, lanes in autodrive zone610may have a same direction of traffic as lane510while lanes in autodrive zone620may have a different direction of traffic as lane510. Returning toFIGS. 8B and 8D, autodrive information810and870includes lanes830,832,834, and836, all of which are associated with the same direction of traffic.

The displayed autodrive information may also visually distinguish between lanes that are currently available for autonomous driving mode from those that are not. For example, the display may include indicators which identify particular lanes as autodrive lanes or other lanes as not available for autonomous driving mode. As noted above, in some examples, a lane may be an autodrive lane according to detailed map information136, however for some other reason, the lane is not shown as such because it is not available for the autonomous driving mode.

As shown inFIGS. 8B and 8D, lanes830,832, and834include autodrive indicators, here boxes840,842, and844, respectively. These autodrive indicators may be shown in a different color or otherwise highlighted as compared to lane836to indicate that lane836is currently not available for the autonomous driving mode, even though it may be an autodrive lane according to the detailed map information136. In this regard, lane836may otherwise be available for driving, but there is some reason (such as those described above) which prevents the vehicle from using the autonomous driving mode in lane836.

The displayed autodrive information may also include an indicator of the position of a lane (autodrive or not) currently occupied by the vehicle. In this regard, computer110may use the current location of vehicle101to determine where to indicate the current location of the vehicle in the autodrive information. For example inFIG. 8B, a vehicle location indicator, here arrow850, depicts the current location of vehicle101in lane836. Although shown as an arrow, other indicators such as chevrons, pointers, etc. may also be used. In this example, lane860is not an autodrive lane as there is no autodrive indicator associated with that lane. In the example ofFIG. 8D, arrow880, depicts the current location of vehicle101in lane834. In this example, lane834is an autodrive lane as it includes box844.

In addition, if the lane currently occupied by the vehicle, as indicated by the vehicle location indicator, is an autodrive lane, the display may include information indicating how much further the vehicle may either begin or continue driving in the autonomous driving mode in that particular lane as determined by computer110. This determination may be made by computer110based on the detailed map information (e.g. this lane continues only for another so many miles, there is a merge into this lane in so many miles which the vehicle should avoid driving in autonomous driving mode, etc.) or may be based on the location of the vehicle relative to a route (e.g. where a route would require the vehicle to exit the lane, etc.).

FIG. 10Ais an example of autodrive information1010which depicts lanes1030,1032,1034, and1036. Lanes1030,1032, and1034include autodrive indicators1040,1042, and1044, respectively. Vehicle location indicator1050indicates the current location of vehicle101in lane1034. This example also includes mile data1060indicating that vehicle101has 3 more miles of this lane in which to drive in the autonomous driving mode. Here, mile data1060is displayed below lanes1030,1032,1034, and1036.

The display may also display information indicating the remaining autodrive distance in other lanes as well as the lane with the greatest remaining autodrive distance. For example, computer110may use the detailed map information (e.g. this lane continues only for another so many miles, there is a merge into this lane in so many miles which the vehicle should avoid driving in autonomous driving mode, etc.) or the location of the vehicle relative to a route (e.g. where a route would require the vehicle to exit the lane, etc.) to determine whether and how much distance is available for the autonomous driving mode in each of the lanes of the autodrive information. Thus, computer110may also determine in which lane has the greatest distance available for the autonomous driving mode.

This information may then be incorporated in the autodrive information and displayed to the driver. In one example, the display of the autodrive information may include a longest lane indicator having a bracket and an arrow pointing towards the longest lane available for autonomous driving mode as well as information indicating the number of miles remaining in the longest lane.

For example,FIG. 10Bis an example of autodrive information1070which depicts lanes1030,1032,1034, and1036. Lanes1030,1032, and1034include autodrive indicators1040,1042, and1044, respectively (as withFIG. 10A). Again, vehicle location indicator1050indicates the current location of vehicle101in lane1034. Mile data1060indicates that vehicle101has 3 more miles of this lane in which to drive in the autonomous driving mode. In addition, this example includes longest lane indicator1090having bracket1092, arrow1094, and mile data1096indicating that there are 7 more miles of lane1030in which to drive in the autonomous driving mode. In this example, the longest lane indicator is displayed above lanes1030,1032, and1034. Arrow1094indicates that the longest length, here 7 miles, applies to lane1030. The longest lane indicator also implies that the other lanes available for autonomous driving, in the example ofFIG. 10Blanes1032and1034, are not as long as the lane associated with the longest lane indicator. In this example, the length of the longest lane available for autonomous driving mode is displayed above the lanes and length of the lane that the vehicle is currently in is displayed below the lanes, though other configurations may also be used.

FIGS. 11A and 11Bdepict examples of autodrive information1110and1170, respectively, which include more than one longest lane. In these examples, longest lane indicators1120and1180include brackets1122and1182, respectively, extending over the longest lanes. Above brackets1122and1182is mile data1126and1186indicating that there are 28 miles remaining for the autonomous driving mode in each of these longest lanes. Arrows1130-1135and1190-1192extending from brackets1122and1182, respectively, identify the longest lanes. Thus, in each of these examples individually, those lanes associated with longest lane indicators may be approximately (or actually) the same length. In the example, ofFIG. 11A, autodrive information1110includes vehicle location indicator1150. This indicator is associated with a lane which is also one of the longest lanes. However, in the example ofFIG. 11B, the autodrive information also includes mile data1160which indicates that vehicle101has 13 more miles of this lane in which to drive in the autonomous driving mode which is different from the lanes associated with the longest lane indicators.

Although the examples described above include specific configurations, autodrive information may be presented in many other ways consistent with the present disclosure.FIGS. 12A-12Mare examples of autodrive information1210A-1210M, which depict various alternatives for displaying autodrive information. Although specifically identified in reference toFIG. 12A, each of these examples includes 4 lanes;1230,1232,1234, and1236. There of these lanes include autodrive indicators1240,1242, and1244. Thus lane1236is currently unavailable for autonomous driving mode. In the example ofFIG. 12A, vehicle location indicator1250is depicted in lane1236. However, this same location indicator is also shown in lane1234in other examples ofFIGS. 12D,12H, and12I and in lane1236in the example ofFIG. 12M.

Autonomous information1210A ofFIG. 12Auses shading to indicate the longest lane available for autonomous driving mode. For example, lane1232has more miles available for autonomous driving mode than lanes1230and1234as indicated by the color gradient in autodrive lane indicators1240and1244, respectively. Autodrive indicator1242of lane1232is shown as solid to indicate that this lane is the longest lane available for autonomous driving mode. This example also includes mile data1260A indicating the number of miles available for autonomous driving mode in lane1234as well as mile data1296A indicating the number of miles available for autonomous driving mode in lane1232. In this example, the mile data1260A and1296A are both displayed below the lanes and include box icons1268A and1298A which identify the relationship of the mile data to lanes1232and1234, respectively.

FIG. 12Bdepicts an example of autodrive information1210B where the longest lane indicator1290B having a bracket1292B and an arrow1294B. However, in this example, the bracket1292B is above each of the displayed lanes and simply not connecting the longest lanes as shown in the examples ofFIGS. 11A and 11B.

Autodrive information1210C ofFIG. 12Cis similar to the example ofFIG. 12B. In this example, longest lane indicator1290C includes the text “longest lane” above bracket1292C and arrow1294C. In addition, this example includes mile data1260C identifying the length of lane1234available for the autonomous driving mode.

In the example ofFIG. 12D, autodrive information1210D includes two longest lanes. Thus, here there are two arrows1294D-1and1294D-2and the text “longest lanes” above bracket1292D. This example also includes mile data1260D identifying the length of lane1232available for the autonomous driving mode.

FIG. 12Eis an example of autodrive information1210E where vehicle101is not currently located in an autodrive lane and presumably not in the autonomous driving mode. As described above with regard toFIG. 12A, lane1236is not an autodrive lane. In this example, the longest lane indicator1290E includes a bracket1292E, an arrow1294E, and the text “longest lane.” There is also an arrow1298E encouraging the driver to move the vehicle from lane1236to lane1232to which arrow1292E is directed.

Autodrive information1210F ofFIG. 12Fdepicts another example of a longest lane identifier where vehicle101is currently not located in an autodrive lane and presumably not in the autonomous driving mode. In this example, box1242is given a thicker outline1292F than boxes1240and1244. This thicker outline1292F indicates that lane1232is the longest lane available for autonomous driving mode.

In the example of1210G, autodrive information1210G indicates that vehicle101is currently driving in an autodrive lane. Here, vehicle101is in lane1236and mile data1260G indicates that there are 7 miles remaining for the autonomous driving mode (though this example does not use the text “miles”). As with the example ofFIG. 12F, autodrive information1210G uses a thicker outline1292G to identify the longest lane available for the autonomous driving mode.

FIG. 12His again similar toFIG. 12G. In this example, autodrive information1210H indicates that vehicle101has moved to lane1232, identified by thicker outline1292H as the longest lane. In this example, although lane1232is identified as the longest lane, mile data1260H/1296H is depicted below the lanes rather than above because vehicle101is currently driving in the longest lane available for autonomous driving mode.

Autodrive information1210I ofFIG. 12Iincludes longest lane indicator1290I having an arrow1294I and mile data1296I. Longest lane indicator1290I indicates that lane1236is the longest lane available for autonomous driving mode. This example does not include a bracket above any of the lanes, nor does it include mile data for lane1232in which vehicle101is currently driving (as identified by arrow1250).

The example of autodrive information1210J ofFIG. 12Jis similar to the example ofFIG. 12A. However, in this example, rather than depicting boxes1240and1244of lanes1230and1234, respectively, with a color gradient to indicate that they are not the longest lanes available for autonomous driving mode, these boxes are shown as a lighter shade or another color from box1242of lane1232. Thus, in this example, lane1232is identified as the longest lane currently available for autonomous driving mode as its box is shown in a different shade or color from the boxes of the other lanes available for the autonomous driving mode. Again, as with the other examples described above, lane1236ofFIG. 12Jdoes not include a box as it is unavailable for the autonomous driving mode. In addition, the mile data1260J and1296J are both displayed below the lanes and include box icons1268J and1298J which identify the relationship of the mile data to lanes1232and1234, respectively.

As with autodrive information1210J, the example of autodrive information1210K ofFIG. 12Kuses the color or shade of box1232K to identify lane1232as the longest lane available for autonomous driving. However, in this example, no mile data is displayed for box1232K. Vehicle101is currently driving in lane1234. This example includes mile data1260K which identifies the remaining available miles for autonomous driving mode in lane1234. In this example, the mile data includes “Length:” to clearly identify the number of remaining miles. Mile data1260K is displayed below a bracket1262K shown below the lanes.

The example of autodrive information1210L ofFIG. 12Lis similar to that ofFIG. 12K. However, inFIG. 12L, rather than using the text “Length:,” mile data1260L includes an icon1268L. This icon may indicate the reason for the length of the lane available for the autonomous driving mode. Here, the icon represents a construction worker, indicating that in 10 miles lane1234will not be available for the autonomous driving mode due to construction. Other icons may also be used to indicate other reasons. In one example, icons may represent turns or merges or other maneuvers required for a particular route.

FIG. 12Mincludes autodrive information1210M which is yet another example of how the longest lane available for the autonomous driving mode may be identified. In this example, the longest lane identifier is depicted as a star icon1290M. As vehicle101is currently located in lane1236which is not available for the autonomous driving mode, the star icon1290M may suggest to the driver the best lane for initiating the autonomous driving mode. Again, other icons may be used to identify the longest lane available for autonomous driving.

Flow diagram1300ofFIG. 13is an example of some of the aspects described above which may be performed by computer110. In this example, the computer110receives data from a geographic position component at block1302. The received data is then used to determine a current location of a vehicle at block1304. The current location is used to access detailed map information and identify the location of autodrive lanes at block1306. As described above, autodrive lanes include lanes which are pre-approved for an autonomous driving mode where a driver is able to relinquish control of a vehicle to a computer, such as computer110.

The computer then identifies one or more of the autodrive lanes currently available for autonomous driving at block1308. The identified one or more autodrive lanes are used to generate autodrive information at block1310. As described above, with regard toFIGS. 8A-8D,10A,10B,11A,11B, and12A-12M, the autodrive information may include information such as a number of lanes, which of those lanes is available or not available for autonomous driving mode, the current location of the vehicle with regard to the lanes, whether the vehicle is currently in an available autodrive lane or a non-autodrive lane, the remaining distance of the lanes (such as the lane in which the vehicle is currently) for the autonomous driving mode, the longest lane available for the autonomous driving mode, etc. The computer110then generates display information based on the autodrive information and display the display information at blocks1312and1314, respectively.

One of the simplest driving tasks for an autonomous vehicle is to stay in a single lane without stopping. By displaying autodrive information as described above, the driver may maneuver the vehicle to the best lane for autonomous driving. This may, in turn, allow the vehicle to avoid problem situations such as merges, construction, narrow lanes, exit only lanes, etc.

As these and other variations and combinations of the features discussed above can be utilized without departing from the subject matter as defined by the claims, the foregoing description of exemplary embodiments should be taken by way of illustration rather than by way of limitation of the subject matter as defined by the claims. It will also be understood that the provision of the examples described herein (as well as clauses phrased as “such as,” “e.g.”, “including” and the like) should not be interpreted as limiting the claimed subject matter to the specific examples; rather, the examples are intended to illustrate only some of many possible aspects.