Patent Publication Number: US-11397436-B2

Title: Autonomous driving under user instructions

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     This is a continuation-in-part of U.S. patent application Ser. No. 15/484,060, filed Apr. 10, 2017. 
    
    
     FEDERALLY SPONSORED RESEARCH 
     Not applicable 
     SEQUENCE LISTING OR PROGRAM 
     Not applicable 
     BACKGROUND 
     Field of Invention 
     This invention relates to autonomous driving, more particularly to autonomous driving under instructions from a user. 
     Description of Prior Art 
     Autonomous vehicles represent a great advance in the transportation industry. Autonomous driving is expected to reduce traffic fatalities and crashes caused by driver error, provide increased mobility for people who lack access to automobiles, reduce energy consumption and pollution, and cut costs associated with congestion. In general, an autonomous vehicle (also referred to as a driverless vehicle or a self-driving vehicle) is a vehicle capable of sensing and navigating around the vehicle&#39;s surroundings and travelling autonomously to a destination without user input. The vehicle may employ a combination of sensors such as cameras, radar, light detection and ranging (LIDAR) system, global position system (GPS), etc. Data obtained from the sensors may be used to detect what&#39;s around it and road conditions. For instance, surrounding vehicles, traffic lanes, road markers, road signs, obstacles, and pedestrians may be identified. A vehicle control system may analyze the data to determine certain aspects of the vehicle operation, such as a target trajectory, steering, speed, signaling, braking, and so on. As consecutive maneuvers are calculated and implemented by the control system, the vehicle navigates to a destination through the driving environment autonomously. 
     When an autonomous vehicle is available, a user may just need to submit a destination to go to a place. Riding on a vehicle may become a simple and easy experience for all users. In some cases, however, a user may want to take a detour during a trip. The user may be unfamiliar with automobile driving and thus may not be able to maneuver a vehicle even when an option of manual driving is provided. Thus the user may have to change a destination temporarily and then switch back to it after a detour is completed. The method is unnatural, indirect, and inconvenient. In addition, a check-in process may be needed in order to ride an autonomous vehicle. Although it is easy to use a smartphone to do check-in, there are still some users who may not carry any electronic gadget. Thus, multiple check-in options including a gadget-free method may be desirable. 
     Therefore, there exists a need for a user to navigate an autonomous vehicle easily and intuitively and a need for multiple options including a gadget-free method to check in a vehicle. 
     As used herein, word “vehicle” may mean any form of motorized transportation. Examples of vehicle may include automobile, drone, flying car, aircraft, and ship. Words “route”, “road”, “roadway”, and “path” may have similar meanings and they may all mean a thoroughfare or open way between two places for vehicle travel or transportation. For convenience of description, it may be arranged that “Service Center” as used herein may mean a center as a business entity or a server which is operated at Service Center. “Check in” as used herein may mean a user logs in a user account at a vehicle using info obtained from a reservation or using other suitable info. After a check-in process, a user may be allowed to interact with a vehicle further. “Autonomous mode” as used herein may mean a driverless driving state. When a vehicle is in autonomous mode, it navigates and travels by itself without the need of user input. 
     OBJECTS AND ADVANTAGES 
     Accordingly, several main objects and advantages of the present invention are:
         a). to provide an improved system and method for a user to navigate an autonomous vehicle;   b). to provide such a system and method which are simple, convenient, and intuitive to use;   c). to provide such a system and method which make it easy and intuitive to maneuver a vehicle to go straight, turn left, turn right, reverse, and make a U-turn;   d). to provide such a system and method which show available parking spots to help a user select a parking space; and   e). to provide such a system and method which enable a gadget-free check-in process using a printout or simple code.       

     Further objects and advantages will become apparent from a consideration of the drawings and ensuing description. 
     SUMMARY 
     In accordance with the present invention, a user may submit instructions to an autonomous vehicle to change a travel route easily, make a detour conveniently, and get a new route to a destination automatically. Either four or five intuitive navigational commands are arranged. The four intuitive navigational commands comprise forward, backward/U-turn, turn left, and turn right options, while the backward/U-turn option leads to backward or U-turn command depending on road conditions and arrangement. The five intuitive navigational commands comprise forward, backward, turn left, turn right, and U-turn options. After a user submits a forward command, a vehicle is arranged to go straight through one or more intersections within a given distance. When a user submits a turn-left or turn-right command, the vehicle is arranged to make a turn and then travel straight through one or more intersections within a given distance. In addition, an enhanced map is generated which shows available parking spots for a user to select. Moreover, multiple check-in options, including QR-code printout and simple numerical code methods, are provided to satisfy needs of users with or without a gadget. 
    
    
     
       DRAWING FIGURES 
         FIGS. 1 -A and  1 -B are exemplary block diagrams describing an embodiment involving an autonomous vehicle and a server in accordance with the present invention. 
         FIG. 2  is a flow diagram depicting exemplary reservation processes in accordance with the present invention. 
         FIG. 3  is a flow diagram depicting exemplary check-in processes in accordance with the present invention. 
         FIG. 4  is an exemplary illustration to depict methods to submit destination info in accordance with the present invention. 
         FIG. 5  is an exemplary illustration to depict methods of vehicle identification in accordance with the present invention. 
         FIGS. 6 -A and  6 -B are exemplary diagrams describing control panel configurations in accordance with the present invention. 
         FIG. 7  is an exemplary flow diagram illustrating an embodiment in accordance with the present invention. 
         FIGS. 8, 9, 10 and 11  are exemplary flow diagrams illustrating vehicle operational processes in accordance with the present invention. 
         FIGS. 12, 13, 14, and 15  are exemplary flow diagrams illustrating vehicle operational processes after certain instructions are entered by a user in accordance with the present invention. 
         FIGS. 16, 17, and 18  are exemplary flow diagrams illustrating vehicle operational processes in accordance with the present invention. 
         FIG. 19  is an exemplary flow diagram illustrating a vehicle operational process with funds issues in accordance with the present invention. 
         FIGS. 20, 21, 22, and 23  are exemplary flow diagrams illustrating several operational processes in accordance with the present invention. 
         FIGS. 24 -A and  24 -B are exemplary diagrams describing control panel configurations in accordance with the present invention. 
         FIG. 25  uses an exemplary diagram to show an embodiment according to the present invention. 
     
    
    
     
       
         
           
               
             
               
                   
               
               
                 REFERENCE NUMERALS IN DRAWINGS 
               
               
                   
               
             
            
               
                   
               
            
           
           
               
               
               
               
            
               
                 10 
                 Processor 
                 12 
                 Computer Readable Medium 
               
               
                 14 
                 Communication Network 
                 16 
                 Sensors 
               
               
                 18 
                 Autonomous Vehicle 
                 20 
                 Processing Module 
               
               
                 22 
                 Database 
                 24 
                 Control System 
               
               
                 26 
                 Check-in System 
                 28 
                 NFC Sensor 
               
               
                 30 
                 Camera 
                 32 
                 Keypad 
               
               
                 34 
                 Forward Button 
                 36 
                 Backward/U-turn Button 
               
               
                 38 
                 Turn-Left Button 
                 40 
                 Turn-Right Button 
               
               
                 42 
                 Knob 
                 44 
                 Forward Arrow Label 
               
               
                 46 
                 Backward/U-turn Arrow 
               
               
                   
                 Label 
               
               
                 48 
                 Turn-Left Arrow Label 
                 50 
                 Turn-Right Arrow Label 
               
               
                 52 
                 Start Button 
                 54 
                 Stop Button 
               
               
                 56 
                 Control Panel 
                 58 
                 Control Panel 
               
               
                 60 
                 Start Button 
                 62 
                 Stop Button 
               
               
                 64 
                 Speed Control Module 
                 66 
                 Steering Module 
               
               
                 68 
                 Braking Module 
                 70 
                 Driving System 
               
               
                 72 
                 Server 
                 74 
                 Forward Button 
               
               
                 76 
                 Reverse Button 
                 78 
                 Turn-Left Button 
               
               
                 80 
                 Turn-Right Button 
                 82 
                 U-turn Button 
               
               
                 84 
                 Forward Arrow Label 
                 86 
                 Reverse Arrow Label 
               
               
                 88 
                 Turn-Left Arrow Label 
                 90 
                 Turn-Right Arrow Label 
               
               
                 92 
                 U-turn Arrow Label 
                 94 
                 Control Panel 
               
               
                 96 
                 Control Panel 
                 98 
                 Knob 
               
               
                 500 
                 Autonomous Vehicle 
                 502 
                 Icon 
               
               
                 504 
                 Icon 
                 506 
                 Icon 
               
               
                 508 
                 Parking Lot 
                 510 
                 Map 
               
               
                 512 
                 Screen 
                 514 
                 Intersection 
               
               
                 100-400 
                 are exemplary steps. 
               
               
                   
               
            
           
         
       
     
     DETAILED DESCRIPTION 
     The following exemplary embodiments are provided for complete disclosure of the present invention and to fully inform the scope of the present invention to those skilled in the art, and the present invention is not limited to the schematic embodiments disclosed, but can be implemented in various types. 
       FIGS. 1 -A and  1 -B are exemplary block diagrams of one embodiment according to the present invention. A vehicle  18  and server  72  are connected via a wireless communication network  14 . Assume that vehicle  18  is an autonomous automobile for the purpose of illustrating embodiments. Vehicle  18  may include a vehicle control system  24  and driving system  70  responsible for vehicle navigation and driving respectively. System  24  may include a processor  10  and computer readable medium  12 . Processor  10  may mean one or more processor chips or systems. Medium  12  may be the main part of a vehicle storage system and may include a memory hierarchy built by one or more memory chips or storage components like RAM, ROM, FLASH, or other suitable storage modules. Processor  10  may run programs or sets of executable instructions stored in medium  12  for performing various functions and tasks, e.g., receiving and processing data collected from sensors, retrieving map data from medium  12 , sending driving signals to system  70 , executing other applications, etc. System  24  may also include input, output, and communication components, which may be individual modules or integrated with processor  10 . 
     In addition, system  24  may have a display (not shown) and a graphical user interface (GUI). The display may have a liquid crystal display (LCD) screen or light emitting diode (LED) screen and may be arranged sensitive to touches, i.e., sensitive to haptic and/or tactile contact with a user. The display may serve as a main display of system  24  and its interface which may be used to show vehicle status, driving conditions, current driving route, and certain options. A user may use the interface to search and retrieve information, view surrounding area maps, enter input or instructions, interact with system  24 , and so on. 
     Driving system  70  may comprise modules  64 ,  66 , and  68  for implementing driving maneuvers which are determined by system  24 . Speed control module  64  is configured to regulate the driving force or speed of vehicle  18 . For a gasoline or diesel powered vehicle, module  64  contains a throttling system which controls the speed of an engine which in turn determines the speed of the vehicle. For an electric vehicle, module  64  may contain a driver system to control the speed of an electric motor. The motor speed determines the vehicle speed. Steering module  66  is arranged to control the steering torque which then adjusts the heading of the vehicle. Braking module  68  is designed to use a hydraulic brake system to decelerate the vehicle. 
     Many autonomous vehicles are likely owned, serviced, and managed by business entities. Assume that vehicle  18  is administered by a business called Service Center and server  72  is installed at Service Center. The word “server” means a system or systems which may have similar functions and capacities as one or more servers. Main components of a server may include one or more processors, which control and process data and information by executing software, logic, code, or carrying out any other suitable functions. Server  72  may exemplarily be divided into two blocks, represented by a processing module  20  and a database  22 . Processing module  20  may include processing and communication functions. Database  22  may store vehicle service records and information, map data and geographic info about certain areas, user account information, user transaction records, etc. The database may include a cluster of aforementioned and other memory chips and/or storage modules. 
     Referring to  FIG. 1 -B, vehicle  18  may include sensors  16  to detect the external environment that surrounds the vehicle and the internal situation within it. Sensors  16  may include cameras, a radar system, a LIDAR system, a GPS device, a speed sensor, an accelerometer, an electronic compass, a suspension sensor, etc. Some cameras may be located on or exposed to the exterior of the vehicle. These cameras may be used to take images and videos of the surroundings to detect and recognize road signs, road marks, pedestrians, obstacles, other vehicles, buildings, land marks, etc. Some other cameras may be arranged inside the vehicle to sense an occupant, like whether an occupant has settled down before a vehicle is started. The radar and LIDAR systems may detect the surroundings and create a three-dimensional image which is advantageous over two-dimensional images generated by cameras. Three-dimensional images are especially useful to sense and recognize pedestrians and other vehicles. The GPS device provides the present location of vehicle  18 . GPS data may be combined with info obtained from the cameras, radar, and LIDAR to obtain a precise location of the vehicle. 
     Vehicle  18  may also include a check-in system  26  through which a user may perform a check-in process. System  26  may contain a NFC sensor  28 , a camera  30 , a keypad  32 , and other suitable sensors or interactive devices. NFC is of short-range wireless communication technology and may be employed to communicate securely between NFC devices. NFC sensor  28  may also be used to read a radio-frequency identification (RFID) tag. RFID is also a wireless technology for the purpose of data transfer, such as transfer of identification data, passively or actively. Keypad  32  may be a traditional device with physical hard (or hardware tactile) buttons or configured on a touch screen with virtual (or soft) buttons. 
     Check-in related sensors and devices may be located on the exterior of the vehicle or inside the vehicle. In the former case, it may be arranged that vehicle doors become unlocked only after a check-in process is done successfully. While in the latter case, a user may get in the vehicle first and then proceed with check-in procedures. Furthermore, vehicle  18  may have a voice recognition component to receive a user&#39;s verbal command or vocal input. In addition, vehicle  18  may have a gesture detection mechanism to sense a user&#39;s gesture instructions. 
     As users with different backgrounds may ride on an autonomous vehicle when needing it, a flexible multi-option reservation process is desirable.  FIG. 2  is a flow diagram illustrating exemplary booking processes according to the present invention. Assume that a user wants to reserve a vehicle at step  100 . First, the user selects a reservation method at step  102 . Like some other booking processes, a vehicle may be reserved via a specific app at a smartphone, certain websites, or calling a specific phone number. At step  104 , an app is used. The app may be downloaded from the Internet and installed at a smartphone. At step  106 , the user may reserve a vehicle on a booking website. At step  108 , the user may reserve a vehicle in a phone call. A vehicle may also be reserved by a third party, as indicated at step  110 . For instance, a user may book a vehicle for another user using methods just mentioned. 
     During a reservation process, a user name is submitted. A user name might not be a real name, though it must be based on a valid account. At step  112 , the user enters pickup and destination locations. Next, a payment method is selected at step  114 . A user may make a payment or do it at a later time. Next, a check-in method is determined at step  116 . In order to make a check-in process flexible and user-friendly, methods based on different technologies are provided. Some methods require certain devices, while some don&#39;t. And a user may choose multiple check-in methods which all enable a check-in act. 
     At step  118 , an NFC method is selected. The method requires an NFC device which a smartphone or some smart gadgets may have. An NFC method provides a fast and contactless process. When a user makes a reservation via a smartphone app, the app may create a short NFC message. Later on after the user sees a vehicle and swipes the smartphone in front of an NFC sensor of the vehicle, the vehicle may receive the NFC message and recognize the reservation. Alternatively, if a RFID tag is valid and registered, a user may also use the tag and let the tag represent a reservation. Afterwards, the user may swipe the tag in front of an NFC sensor of a vehicle to do check-in. 
     Assume that Service Center is involved in the reservation and check-in processes. During a reservation, a user may interact with Service Center directly or indirectly. Service Center may receive location info and payment info from a user and arrange information needed for check-in. Service Center may contact autonomous vehicles on street or in garage and send to them reservation and route information. Service Center may also dispatch autonomous vehicles to respective pickup places. Reservation, payment, and dispatch work may be conducted at Service Center automatically. 
     At step  120 , a quick response (QR) code method is used. QR code is a two-dimensional machine-readable barcode which consists of an array of black and white squares. QR code may be scanned by a scanner or a camera working as a scanner. A QR code may be generated by Service Center and sent to a user in a reservation process. A user may use a QR code when checking in a vehicle. For instance, a user may print out a QR code or display it on a smartphone. When the user checks in a vehicle, the user may let a scanner of the vehicle scan a QR-code printout or a phone screen that shows the QR code. After the code is scanned, the vehicle gets reservation info and a check-in process is completed. 
     At step  122 , user ID is utilized. A user may provide user info and utilize user ID directly. User ID may be of an identification card or a QR code stored at user&#39;s smartphone. When a scanner of the vehicle scans the identification card or QR-code, a user may be recognized and a reservation confirmed. 
     For users without a smartphone, identification card, or a QR-code printout, a simple code method may be selected during a reservation, as at step  124 . A code may contain one or two letters plus a numerical number or only contain a numerical number. The numerical number may contain two to four digits only, such as 12, 123, or 1234. Service center may be arranged to choose a code for a user, or a user may choose a code and get it approved by Service Center. When a user checks in a vehicle, the user may key in a code via a physical or virtual keypad. A keypad may be arranged at the vehicle, located on the exterior of or inside it. For instance, a display of the vehicle may be used to provide a virtual keypad during a check-in process. The code method requires no device and no material. Since nothing is needed but a key-in act, the method may make it possible for all users to ride an autonomous vehicle. 
     After a reservation is concluded, a confirmation message may be sent to the user at step  126 . The message may include information on the reservation and a check-in method that has been selected. It is noted that a user may select multiple check-in methods to make it flexible and convenient. For instance, a user may choose the NFC, QR code, and simple code methods. When it&#39;s time to check in, the user may use any one of them to do it. 
       FIG. 3  shows exemplary check-in processes according to the present invention. After making a reservation, a user may go to a scheduled pickup location in a scheduled time period and look for an autonomous vehicle. It may be arranged that a user may also ride a vehicle without reservation if the vehicle happens to be available. At step  128 , a user finds a target vehicle. Step  130  is arranged to see whether the user has a reservation. If the answer is yes, the user may select a check-in method at step  132 , assuming that more than one method are arranged in a reservation. At step  134 , the user uses one method, such as NFC, QR code, user ID or simple code, to submit reservation information. After check-in procedures are completed at step  136 , a payment method is confirmed at step  138 . Depending on a user&#39;s credit records and account status, payment may be required before or after a trip is made. Some users may pay it either way and some may have to do it before a trip begins. Next, the vehicle is ready to start the engine at step  150 . 
     On the other hand, when a user doesn&#39;t have a reservation, the user may push a button configured on a panel of the vehicle. The button may have a label like “Ride without Reservation”. Next, a control system of the vehicle may send a message to Service Center and wait for instructions from the center at step  140 . If the vehicle is not allowed to take a user without reservation, the effort ends at step  142 . If the vehicle can take a user without reservation, the user may get in the vehicle and start an ordering process. First, the user is asked by the control system to enter destination info at step  144 . Then, the user selects a payment method at step  146 . At step  148 , the user may swipe a credit card or debit card at a card reader. The user may also use an electronic gadget like a smartphone to make a mobile payment. If the user has an account at Service Center, submission of ID info may also work. As another payment method, the user may insert cash to pay for a trip. After a payment is made or arranged, the vehicle is ready to travel to a place at step  150 . 
     During a reservation or ordering process, an important step is of submission of destination information. A user may use several methods to accomplish it, as illustrated exemplarily in  FIG. 4 . At step  152 , a user prepares to give destination info to Service Center or submit it in a vehicle. The user may be in the middle of a booking process or trying to schedule a trip inside a vehicle. At step  154 , the user may key in a street address and city name using a physical or virtual keypad or keyboard. When the exact address is not known, a user may enter an area name at step  156 , such as ABC Shopping Mall or ABC Square. 
     When map mode is available, a user may find a spot on a map and then click on it using computer mouse or tap it using fingertip on a touch screen at step  158 . “Map mode” as used herein may mean a map presentation state when a program shows a road-map view on a screen of a display. A user may click or tap on a spot of a map to select a place as the pickup or destination location when the map mode is on. For instance, a screen may show a map and an icon with a label “Select Destination”. It may be designed that once the icon is clicked or tapped, its color becomes brighter. Then a user may click or tap a spot on the map to designate it as the destination. Next, a sign may appear at the spot with a label like “Destination” which gives assurance to the user. If the user thinks it is not the intended place, the user may click or tap the icon again and select another spot on the map instead. The processes are handled by a server at Service Center or a control system of a vehicle. 
     If a user doesn&#39;t know the exact destination location but has certain knowledge of an approximate target area, the user may draw a circle on a map to indicate it and use it as a destination area at step  160 . Moreover, a user may use other shapes or scribbling to cover a destination area. For instance, it may be designed that a user may tap “Select Destination” icon and then scribble on a map using computer mouse or fingertip. The scribbling act may generate a curve which may overlap an area. The area may be defined by one or more areas enclosed by the scribble curve and a straight line which connects the start and end points of the curve. Thus a user may use the icon and scribbling to create a destination area on a map quickly and easily. 
     It is noted that the processes described in  FIG. 4  may be administered either by a server at Service Center, like server  72  of  FIG. 1 -A, or a control system of a vehicle like control system  24  of  FIG. 1 -A. The server or control system may present a map and a “Select Destination” icon on a display in a booking or ordering process. If it is in a vehicle, an interface of the control system may be utilized to show the info. Once the server or control system detects or obtains information that a user activates the icon and then clicks or taps a spot or draws a curve on the map within a given time period, the spot or a curve-defined area may be recorded and designated as a destination place or destination area. Then the server or control system may present a symbol with a label “Destination” at the spot or in the area. 
       FIG. 5  is an exemplary diagram describing vehicle identification methods according to the present invention. When a user goes to a scheduled location to look for an autonomous vehicle booked in advance, the user may get confused if there are multiple vehicles waiting for users to check in, even though vehicle make, model, and color are known. For instance, pick-up areas at a shopping district, a railroad station, and an airport might get crowded with autonomous vehicles quite often. Thus, there is a need for a vehicle to show a distinctive identification object to users around it. The identification object may be certain content shown on a display panel, a symbol, or any other suitable object configured on or exposed to the exterior of a vehicle. A user may select an identification object during a reservation process, when Service Center provides a number of choices. An identification object may also be chosen by Service Center and presented to a user during a reservation process or sent to a user before a scheduled pickup time. After assignment of an identification object, Service Center may transmit the information to a vehicle along with other info. At step  162 , a vehicle is ready to display the identification object. The object is arranged to get attention of a user who has made a reservation. 
     At step  164 , the vehicle may show a picture on an electronic display panel. A user may be notified of the picture in a confirmation message. The picture may be arranged easy to recognize and remember, such as a well-known landmark, building, attraction, an easy-to-remember animal like elephant, tiger, horse, etc. The panel may be located on the roof of or behind the windshield of the vehicle. In addition, the electronic panel may also be used to display a user&#39;s name as an identification token, if the user agrees to do so. 
     At steps  166  and  168 , the vehicle may show a symbol or logo for identification. The symbol or logo may be displayed behind the windshield. At step  170 , a simple code is used for vehicle identification. The code may be arranged short and simple, containing a one-digit to three-digit number or a letter plus a one-digit to three-digit number. The code may be displayed using a panel similar to that described at step  164 . 
     Alternatively, for users using a specific app, a map may be displayed at a smartphone. The exact location of a vehicle may be indicated on the map, possibly with references around it, such as a building, a store, a gate, or a road sign. 
     In addition, as multiple vehicles may be parked at the same place, Service Center may check whether an identification object is already used at the location in a similar time period before assigning it to a vehicle. If an object is already used by another vehicle, Service Center is arranged to assign another one to a reservation or ask a user to have another choice. 
     An autonomous vehicle means a driverless or self-driving vehicle. Thus a user doesn&#39;t need to do anything involving driving and navigating actions. However in real life, some users might want to get involved in the navigating part when there is a need to take a path not covered by a route made in a reservation. For instance, a user may want to take a detour to avoid a congested intersection or pick up a friend during a trip. Thus, there is a need for a user to navigate an autonomous vehicle easily and conveniently. Since some users may be unfamiliar with vehicle driving, procedures to navigate an autonomous vehicle are preferred to be simple and intuitive. One embodiment is shown graphically in  FIG. 6 -A, where an exemplary control panel  56  is arranged for a user to navigate an autonomous vehicle. 
     Control panel  56  may be placed beside a front seat of a vehicle in a plane parallel to the vehicle floor or the ground. Panel  56  may also be located in a dashboard area. The panel may include buttons  34 ,  36 ,  38 ,  40 ,  52  and  54 . The buttons may be physical hard buttons or virtual soft buttons, wherein a touch screen may be used in the latter case. Button  52 , with a label “Start”, is arranged to start a vehicle. Once a vehicle control system detects that button  52  is pushed, it may send signals to a driving system to start an engine or motor of the vehicle. It is noted that after button  52  is pushed, the vehicle may still stay at the current place, even though its engine or motor is running. Button  54 , with a label “Stop”, is designed for stopping a vehicle. After a user pushes button  54 , the control system receives a signal to stop the vehicle. The control system then sends signals to the driving system which implements a stopping maneuver. Buttons  34 ,  36 ,  38 , and  40  are configured for performing different driving maneuvers. The four buttons, as navigational buttons, represent forward, backward/U-turn, turn-left, and turn-right respectively. The buttons each have an arrow mark, indicating a direction a button represents. Among the navigational buttons, only button  36  has dual functions. Button  36  may cause a vehicle to reverse, i.e., going backwards in a direction opposite that the vehicle&#39;s front end points at, or make a U-turn, depending on road conditions and arrangement. 
     The navigational buttons work differently from a steering wheel in that pushing a button doesn&#39;t make a vehicle to do a task directly. For instance, a user may turn a vehicle right away when the user turns a steering wheel of a conventional driver-operated automobile. However, when a turn-right button  40  is pushed, for instance, a signal is sent to a control system. Upon receiving the signal, the control system first ascertains whether it is legal or allowable to do it. If the answer is yes, the control system calculates a route segment based on the request, road conditions, and situations of other vehicles. It is possible that the vehicle may not be able to turn right at an intersection ahead if a request comes in too late or it is not safe to do so. Thus, when a user pushes a button, the user merely makes a request for a driving maneuver, while the control system determines whether the maneuver can be implemented. 
     The four navigational buttons represent the minimum need for directional control, satisfying navigation for four directions. They also represent the simplest arrangement, which may make it easy and convenient for a user to use. Thus the buttons may make navigating an autonomous vehicle easy, simple, and intuitive. In addition, navigational options may be presented on a display of the vehicle. A user may select an option to submit instructions for going straight or making a turn. Since such a display may present other content items and other options, it may look complicated and may not be preferred by some users. More examples of using the navigational buttons are described in sections below. 
       FIG. 6 -B shows schematically another embodiment according to the present invention. An exemplary control panel  58  functions in a similar way to panel  56 . Control panel  58  may be arranged beside a front seat of a vehicle or on a dashboard. Buttons  60  and  62  are arranged for starting and stopping the vehicle respectively. It is seen that a navigational request is submitted via a knob  42  of a joystick. Knob  42  may be shifted to four positions at four directions, represented by four arrow labels  44 ,  46 ,  48 , and  50 . The four positions correspond to forward, backward/U-turn, turn left, and turn right respectively. Hence, comparing to pushing buttons as in  FIG. 6 -A, a user may shift knob  42  to four places, resulting in the same navigational effect. The four shifting places also represent the simplest arrangement for navigational needs. The shifting arrangement, like the button arrangement of  FIG. 6 -A, is intuitive for a user to use. 
     It is noted that a user may navigate an autonomous vehicle freely without worries on safety issues. Firstly, a user&#39;s navigational request for a maneuver is only a request, not a driving order. Secondly, a control system only implements a request when it is determined that a corresponding maneuver is legal, safe, and doable. Thus, a user&#39;s navigational request won&#39;t cause any risky or illegal driving incidents. 
       FIG. 7  shows a schematic flow diagram of an embodiment, which describes a pre-journey situation. After a control system of a vehicle confirms a reservation and payment status, the vehicle is ready to set forth. For a user&#39;s comfort, the control system may ascertain whether the user has taken a seat and settled down at step  172 . In the process, images and videos taken by inside-vehicle cameras and data from other suitable sensors are utilized. After it is determined that the user has settled down, the control system may perform safety procedures at step  176 , such as checking whether a safety belt is buckled up and whether vehicle doors are closed. Once the safety check is passed, the control system may start vehicle engine at step  178  and travel along a scheduled route. 
     In case that a user is in a hurry and wants to start the vehicle sooner, the user may use a start button, like button  52  of  FIG. 6 -A. The user may push the start button at step  174  before the control system concludes that the user settles down. Once the control system receives a signal indicating that the start button is activated, the system may begin a safety check immediately at step  176  and then proceed to start the engine at step  178 . Hence, two options are provided for a user. In one option, a user doesn&#39;t push a start button, and the engine starts at a predetermined pace automatically. In the other option, a user pushes the start button to speed up the process. So step  174  is arranged to save a little bit of time for a user and more importantly, to reduce the anxiety level of a user. 
     After the engine is started at step  178 , the vehicle may begin travelling automatically in autonomous mode within a given time frame, for instance, within ten to twenty seconds. Back to step  178 , if a user wants to waste no time, the user may push any navigational button, such as “Forward” or “Backward/U-turn” button. After the control system receives a signal caused by the button pushing act, it may calculate a trajectory and transmit signals to a driving system of the vehicle and the driving system may get the vehicle to move immediately. For instance, after any of the navigational buttons is pushed, the control system may make the vehicle reverse to back out of a parking space and then go forward autonomously. Thus, besides pushing a start button, a use may also push a navigational button to make a vehicle start a journey a little bit sooner. 
       FIG. 8  shows an exemplary flow diagram describing an embodiment according to the present invention. Assume that an engine of a vehicle is started at step  180  and the vehicle is ready to maneuver in autonomous mode. At step  182 , a control system of the vehicle determines whether destination info is received from Service Center or a user. If the control system has destination info, step  184  is taken and the vehicle navigates autonomously towards a destination along a scheduled route. If the control system has no info on destination, step  186  is taken where the control system monitors whether the user enters any instructions. If the user hasn&#39;t submitted any instruction, the control system waits for it at step  190  for a given time period before returning to step  186 . Once the user submits user instructions, like pushing a navigational button, the control system may receive a signal and start working to implement the instructions at step  188 . For instance, if the user pushes a forward button, the control system may calculate a route segment and manage to drive the vehicle in a forward direction for a given distance. 
     Thus it is seen that a vehicle may start traveling with or without information on destination. When there is no destination info, a vehicle may travel based on navigational instructions received from a user. The instructions may be processed by the control system and implemented by a driving system of the vehicle. Therefore, a user may navigate an autonomous vehicle flexibly in multiple ways. 
       FIG. 9  shows another exemplary flow diagram describing an embodiment according to the present invention. Assume that a vehicle is travelling towards a destination on a roadway in autonomous mode at step  192 . On the journey, a control system of the vehicle keeps processing signals coming from certain sensors and devices. One of the tasks is to monitor whether a user has entered any instructions, as shown at step  194 . If there is no user input, the vehicle navigates autonomously to the destination as planned at step  196 . If the user enters a command to request a maneuver, such as pushing a turn-left button, the control system makes calculation and sends signals to a driving system of the vehicle in response to the request at step  198 . The signals are generated for performing the maneuver. 
     It is noted that a request from a user only represents a one-time attempt. For instance, if a user pushes a turn-left button, the control system may schedule a left turn upon receiving the info. After the left turn is made, the control system may wait for further instructions from the user at step  200 . Before receiving new instructions, the control system may be arranged to keep the vehicle traveling straight along the roadway without making any turns within a predetermined distance. When the vehicle approaches a 3-way intersection where left turn and right turn are available, it may remain on the same roadway if the roadway continues or turn right if the roadway ends. A predetermined distance may be arranged to be the distance a vehicle travels starting from the location where the user enters instructions. The length of a predetermined distance may be determined by Service Center and arranged, for example, around a quarter of mile or half a mile. If no further input is received from the user after the vehicle travels the predetermined distance, the control system is arranged to calculate a route to the destination and then navigate the vehicle along the route. If additional user input is received before the vehicle travels the predetermined distance, step  198  is taken once again. 
     In  FIG. 10 , yet another exemplary flow diagram describing an embodiment is presented according to the present invention. At step  202 , assume that a vehicle is navigating towards a destination on a roadway in autonomous mode. At step  204 , a control system of the vehicle is monitoring whether a user inputs any instruction. If the control system doesn&#39;t receive any user command, a scheduled route which leads to the destination remains valid at step  206 . The control system navigates the vehicle along the scheduled route at step  210 . Once the control system receives a signal that the user enters an instruction, for instance, a navigational button is pushed or a knob is shifted, the system is arranged to calculate a route segment accordingly and cause the route segment to replace the scheduled route at step  208 . Next, the control system may generate signals based on requirements of the route segment and use the signals to drive the vehicle on a new route at step  210 . 
       FIG. 11  shows another exemplary flow diagram describing an embodiment according to the present invention. Assume that during an autonomous drive to a destination, a control system of a vehicle obtains instructions from a user at step  212 . Next, the control system processes the order and drives the vehicle accordingly at step  214 . After the control system manages to perform a maneuver as requested by the user, it is arranged to navigate the vehicle autonomously based on prearranged rules. For instance, the control system may guide the vehicle along a road within a predetermined distance. As aforementioned, the length of a predetermined distance may be determined by Service Center and arranged, for instance, around a quarter of mile or half a mile. A user may enter instructions anytime and repeatedly, which prompts the control system to take actions and navigate the vehicle as instructed. Meanwhile the control system may monitor whether the vehicle has traveled the predetermined distance after receiving each individual order from the user. When a user doesn&#39;t submit any new navigational order within the predetermined distance, the control system may calculate a new route and navigate the vehicle to the destination. 
     After the vehicle has traveled, for instance, two thirds of the predetermined distance, the control system may be designed to remind the user of the need for new instructions at step  216 . A display may be used to show a message. The display may be of an interface of the control system. Vehicle driving status, maps of nearby areas, current route, and destination info may be presented in the interface. The interface may also show available user commands, past user instructions, notifications, and a reminder to ask the user to enter new instructions. Examples of reminders may include “Time to Enter New Instructions”. If the user doesn&#39;t submit any new instruction within the predetermined distance at step  218 , the control system directs the vehicle to the scheduled destination at step  220  and a message may appear on the display with a sentence like “Go to Destination”. If the user enters new instructions before the predetermined distance is traveled at step  218 , step  214  is re-taken and next, a new round may begin. 
       FIG. 12  shows an exemplary flow diagram describing an embodiment related to pushing a forward button according to the present invention. Assume that a vehicle is traveling in autonomous mode and a user pushes a forward button at step  222 . The forward button may be button  34  of  FIG. 6 -A with the same functionality. After the user pushes the button, a signal is sent to a control system of the vehicle. The control system may be similar to system  24  of  FIG. 1 -A. Upon receiving the signal, the control system ascertains intersections ahead and locates the first one at step  224 . During the trip, the control system may use sensors of the vehicle to detect the surrounding environment including roads, pedestrians, and vehicles continuously. Map data may also be retrieved from the vehicle&#39;s storage or Service Center continuously. After the measurement is performed and map data is retrieved, the control system calculates a route segment for the vehicle to follow. But the control system may not be able to make the vehicle to go straight through the first intersection. First, the control system has to determine whether it is legal to go straight. If it is illegal, the system declines to implement the order. Second, it may be unsafe to go straight at the first intersection. For instance, the vehicle may be preparing to make a turn according to a scheduled route and thus may not be able to shift a lane in time. If it is legal and doable to go straight through the first intersection, the control system calculate a route segment and sends signals to a driving system of the vehicle which then implements certain maneuvers. If it is too late to do it, the control system may navigate the vehicle using the scheduled route and show a message on a display to notify the user. The message may be like “Sorry, Failed to Go Straight. Any New Instruction?” or some other content items with similar meaning. 
     When road conditions are favorable and the control system carries out the instructions, the vehicle travels straight through the first intersection without making a turn. Next, the user may push another navigational button as a new order and the control system may manage to implement it accordingly. If the user doesn&#39;t enter new instruction after passing through the first intersection, the control system may be arranged to guide the vehicle following certain rules. First, the control system may navigate the vehicle to go straight through one or more intersections within a predetermined distance starting from the location where the user enters the instructions, when traveling straight through the one or more intersections is allowed. As aforementioned, the length of a predetermined distance may be determined by Service Center and arranged, for instance, around a quarter of mile or half a mile. Second, when the vehicle approaches a 3-way intersection where left turn and right turn are available, it may stay with the current roadway if the current roadway turns as well or turn right if the current roadway ends. Third, after the predetermined distance is traveled, the control system may navigate the vehicle to go to a prearranged destination or to a parking spot and stop the vehicle there if there is no destination info. Thus after passing the first intersection, the control system may monitor a distance the vehicle has traveled, ascertain other intersections straight ahead, and select some intersections which are located within the predetermined distance at step  226 . The control system then navigates the vehicle to go straight through the selected intersections in the absence of user instructions at step  228 . When approaching a selected intersection, the control system may show a message on a display to inform the user of an incoming event. Examples of this kind of message may include “Go Straight through the Next Intersection”. In some embodiments, the message presented may also be “Turn Right at the Next Intersection” if it is a 3-way intersection. 
     It is noted the control system calculates a route segment after receiving user instructions and navigates the vehicle through the first intersection along the route segment. Since the control system also needs to navigate the vehicle along a new route after passing the first intersection, it may be arranged that the control system calculates another route segment automatically after generating the first one. In other words, the control system may calculate two route segments consecutively. The first route segment is for passing the first intersection and the second one for autonomous driving after that. In some embodiments, the total length of the two route segments may equal the predetermined distance. In some embodiments, the length of the second route segment may equal the predetermined distance. The second route segment may not be traveled by the vehicle completely, because the user may enter new instructions to interrupt it before the end of the second route segment. In some embodiments, the control system may show the first and second route segments on a map on the display after the first and second route segments are calculated, which informs the user of the incoming event. The first and second route segments may be presented with different styles, different formats, and/or different colors on the display, as they represent a user command and a preset rule, respectively. For example, the first and second route segments may be a solid line and a dotted line, respectively. 
       FIG. 13  shows an exemplary flow diagram describing an embodiment related to pushing a turn-right button according to the present invention. Assume that a vehicle is traveling in autonomous mode and a user pushes a turn-right button at step  230 . The turn-right button may be button  40  of  FIG. 6 -A with the same functionality. Next, a signal prompted by button activation is sent to a control system of the vehicle. After receiving the signal, at step  232 , the control system ascertains the next intersection using measurement data obtained from sensors of the vehicle and map data retrieved from a vehicle storage device or Service Center. The control system may calculate a first route segment for turning right at the intersection at step  234 . But there is chance that the vehicle may not be able to turn right at the next intersection. First, it may be illegal to turn right at the intersection. Second, it may be unsafe to do it. For instance, the vehicle may be in a middle lane and there may not be enough time to shift a lane to the right. If it is doable to turn right at the intersection, the control system sends signals to a driving system of the vehicle which then implements maneuvers to make a right turn at step  236 . If it is illegal or impractical, the control system may decline the request and navigate the vehicle along a scheduled route and show a message on a display to notify the user. The message may be, for example, “Sorry, It Is illegal to Turn Right. Any New Instruction?”, “Sorry, Failed to Turn Right. Any New Instruction?” or some other content items with similar meaning. 
     If road conditions are good for implementing the user&#39;s request, the control system directs the vehicle to make a right turn at the intersection. Next, the user may push another button to submit new instructions and the control system may manage to implement the new order. If the user doesn&#39;t enter new instruction after making the turn, the control system may be arranged to guide the vehicle along a second route segment which may be calculated after the first route segment is created. The second route segment may be calculated following certain rules. First, the vehicle may be arranged to go straight through one or more intersections within a predetermined distance starting from the location where the user enters the instructions for turning right, when going straight through the one or more intersections is allowed. The predetermined distance may be defined in the same way as aforementioned one. The total length of the first and second route segments may be arranged to equal the predetermined distance. In some other embodiments, the length of the second route segment may equal the predetermined distance. Second, when the vehicle approaches a 3-way intersection where left turn and right turn are available, it may stay with the current roadway if the current roadway turns as well or turn right if the current roadway ends. Third, after the predetermined distance is traveled and there is no user instruction submitted, the control system may navigate the vehicle to a prearranged destination or to a parking spot and stop the vehicle there if it has no info on destination. 
     Hence, after making the vehicle turn right at the first intersection, the control system may navigate the vehicle along the second route segment and travel straight through selected intersections in the absence of user command at step  238 . When approaching a selected intersection, the control system may show a message on a display to inform the user of an upcoming event. Examples of the message may include “Go Straight through the Next Intersection”. In some embodiments, the control system may show the first and second route segments on a map on the display after the first and second route segments are calculated. The first and second route segments may be presented with different styles, different formats, and/or different colors on the map, as they represent a user command and a preset rule, respectively. 
     It is noted that the same method and arrangement as illustrated regarding a turn-right request applies to cases where a turn-left request is submitted. Thus, descriptions on a turn-left request are omitted. 
       FIG. 14  shows an exemplary flow diagram describing an embodiment related to pushing a backward/U-turn button according to the present invention. Assume that a vehicle is traveling or stopping on a road in autonomous mode and a user pushes a backward/U-Turn button at step  240 . The button may be button  36  of  FIG. 6 -A with the same functionality. After the user pushes it, a signal is sent to a control system of the vehicle. The control system may be similar to system  24  of  FIG. 1 -A. Prompted by the signal received, the control system may utilize measurement data and map data to evaluate road conditions and feasibility of reversing and U-turn at steps  242  and  244 . First, the control system investigates whether it is legal for reversing and U-turn. It is known that driving in reverse is illegal on a highway and U-turn is not allowed at some intersections. If reversing is allowed, the control system may calculate a trajectory and move the vehicle backwards for a predefined distance at step  248 , say ten to twenty yards. If the control system gets information that reversing is not allowed but U-turn is allowed, the system may be arranged to navigate the vehicle to make a U-turn. Thus the backward/U-turn button may be used to carry out one of two different functions. In some embodiments, it may be arranged that when reversing is allowed, no matter whether U-turn is allowed or not, the control system performs a reversing action; and when reversing is not allowed but U-turn is allowed, the control system implements a U-turn act. In some embodiments, when both reversing and U-turn are allowed, two icons with labels “Reverse” and “U-turn” may show up on a touch screen of a display, such as an interface of the control system. A message like “Please Select One Option” may be configured to appear on the screen to remind the user of the choices. The user may tap an icon to select one option. If no icon is tapped within a given short time period, the control system may choose a reverse act and make it happen when it is doable. In some embodiments, when the backward/U-turn button is pushed more than one time consecutively in a short period of time, or a knob is shifted to the backward/U-turn position more than one time consecutively in a short period of time, e.g., two times or three times in a row, it may be considered as a U-turn request. Then the control system may implement a U-turn act in response to receiving the information. 
     If it is time to make a U-turn at an intersection, the control system sends signals to a driving system which then implements maneuvers to turn around at step  246 . If it is impossible to make it, the control system may navigate the vehicle along a scheduled path and show a message on the screen to inform the user. The message may be, for example, “Sorry, Failed to Make U-Turn. Any New Instruction?” or some other content items with similar meaning. 
     Assume that the control system fulfils user instructions and makes the vehicle perform a U-turn. Next, the user may push another button as new instructions and the control system may manage to implement a new order. If the user doesn&#39;t enter new instructions after the U-turn, the control system may be arranged to guide the vehicle following certain rules. First, the vehicle may be arranged to go straight through one or more intersections within a predetermined distance starting from the spot where the user enters the latest instructions, when traveling straight through the one or more intersections is allowed. The predetermined distance may be defined in the same manner as described above. Second, when the vehicle approaches a 3-way intersection where left turn and right turn are available, it may stay with the current roadway if the current roadway turns as well or turn right if the current roadway ends. Third, after the predetermined distance is traveled without receiving new instructions, the control system may guide the vehicle to a prearranged destination or to a parking spot and stop there if there is no destination info. Thus after making a U-turn, the control system may search other intersections straight ahead and select some intersections which are located within the predetermined distance. The control system then navigates the vehicle to go straight through the selected intersections in the absence of user instructions, which is illustrated at step  246  as well. It is noted that when processing a user request to make a U-turn, the control system may calculate two route segments, a first route segment for implementing the U-turn and a second route segment for navigating the vehicle after making the U-turn. In some embodiments, the total length of the first and second route segments is equal to the predetermined distance. In some embodiments, the second route segment is equal to the predetermined distance. 
     Similar to descriptions above, in the U-turn cases, the control system may show the first and second route segments on a map on the display after the first and second route segments are calculated. The first and second route segments may be presented with different styles, different formats, and/or different colors on the display, as they represent a user command and a preset rule, respectively. 
       FIG. 15  shows an exemplary flow diagram describing an embodiment related to pushing a stop button according to the present invention. Assume that a vehicle is traveling on a road in autonomous mode and a user pushes a stop button at step  390 . The stop button may be of button  54  of  FIG. 6 -A with the same functionality. Once button  54  is pushed, a signal is sent to a control system of the vehicle. As detection on surrounding environment may be conducted continuously, measurement data may be updated all the time. After the control system receives the signal of stop button, at steps  392  and  394 , the system prepares to stop and starts to evaluate the surroundings using measurement results and map data retrieved from a storage device or Service Center. The control system may show a message on a screen of the vehicle to let the user know what will happen. The message may be, for example, “Will stop soon” or “Preparing to stop”. Meanwhile, the control system may ascertain road marks and signs to determine whether it is allowed for roadside parking at step  396 . If roadside parking is allowed and available, the control system may calculate a trajectory and stop the vehicle by roadside at step  400 . If roadside parking is not allowed or unavailable, the system may find a nearby parking lot, calculate a trajectory, and then autonomously drive the vehicle there along the trajectory at step  398 . 
       FIG. 16  shows an exemplary flow diagram describing an embodiment according to the present invention. Assume that at step  250 , an autonomous vehicle stops at a place after traveling a distance. A user is still inside the vehicle. A control system of the vehicle may monitor whether the user leaves the vehicle at step  252 . Cameras and other suitable sensors may be used at the step. If it is detected the user gets off the vehicle and walks away, a check-out process is performed automatically for the user at step  254 . If the user remains in the vehicle, the control system monitors whether a start button is pushed at step  256 . If the start button is not pushed, the control system awaits user input at step  260  and repeats doing step  252  at the same time. If the start button is pushed at step  256 , the control system starts checking whether destination info is obtained at step  258 . If the control system obtains destination info, it calculates a route and navigates the vehicle to a destination autonomously at step  262 . If the control system doesn&#39;t have destination info, it may follow user instructions, create route segments, and navigate the vehicle along the segments respectively at step  264 . 
       FIG. 17  shows an exemplary flow diagram describing an embodiment related to stopping in a destination area according to the present invention. Assume that at step  266  an autonomous vehicle arrives in or is approaching a destination area. When a control system of the vehicle receives data that the vehicle is within a given distance from a destination, say half a mile, the system may present a map of the destination area on a touch screen of a display inside the vehicle. The screen may be the interface of the control system. 
     On the other hand, an icon may be configured on the screen with a label such as “Map Mode”. Once the control system receives a signal indicating that “Map Mode” icon is tapped, the system shows a map covering surrounding areas of the vehicle. So a user may get a map on screen anytime when needed, whether the vehicle is driving on a road or stopped at a parking lot. A map may be retrieved from a storage device at the vehicle or from Service Center. If a destination location is known, the map may show the location with an illustrative label “Destination”. As shown when embodiments of  FIG. 4  are discussed, a user may use “Select Destination” icon when there is a need to enter or change destination info. For instance, after activating “Select Destination” icon, the user may tap a spot on the map to choose it as a destination or a new destination which may replace an old one. 
     It is known that a regular road map may not contain some detail of an area. For instance, it may not show some side paths or alleys and in many cases, doesn&#39;t show a parking lot or parking spots. In addition, by its inherent static nature, a regular map doesn&#39;t show which parking spot is currently occupied and which is available at a location, even though the info is useful for users looking for a parking space. Thus, there is a need to create an improved or enhanced map. An improved or enhanced map is especially helpful for a destination area where parking a vehicle at a preferred spot is desirable for users. 
     After a vehicle enters a destination area, the control system may start sensing the detail of the surrounding environment, especially parking spots, using sensors of the vehicle. The sensors may include aforementioned cameras, radar and LIDAR devices. The control system may create an enhanced map by combining a regular map with the measurement data obtained currently or in real time. From the measurement, the control system may ascertain road marks and signs, parking marks and signs, surrounding buildings and facilities, and surrounding vehicles to recognize existing paths and available parking spots. Existing path may mean a path that exits and a map may or may not show it. Available parking spot may mean an unoccupied parking space where a vehicle may stop or be parked. The control system may compare measurement results with a matching map area to determine paths and parking spots that the map lacks. Then the detected paths and parking spots are added to the map by superimposing method to create an enhanced map. The enhanced map may be arranged to show existing paths and available parking spots in surrounding areas. It may also show vehicles which are already parked there to make surrounding images more realistic. 
     In addition, since radar and LIDAR devices provide a three-dimensional image, the control system may utilize radar and LIDAR data to create a perspective enhanced map. A perspective map provides a perspective view, while a regular map is a flat map, which is a projection of the surface of an area onto a two-dimensional plane. A perspective map is easier to view and comprehend than a regular map. When both perspective enhanced map and flat enhanced map are available, Service Center may decide what type of map to use. Alternatively, options such as icons may be presented on a display of the vehicle so that a user may have a chance to select which enhanced map to use. For instance, a user may tap on an icon to choose one type of the enhanced map and the control system may be arranged to present it. In addition, it may be arranged that once an enhanced map is generated by the control system, it replaces a regular map and appears on the display. 
     Available parking spot on an enhanced map may be represented by a parking symbol which has certain shape and color for easy recognition and selection. An icon, as an interactive element with a label like “Parking Spot”, may be configured on the screen. A user may tap a “Parking Spot” icon to begin a process to select a parking space. For instance, a user may tap “Parking Spot” icon and then tap a parking symbol at a spot, which may be sensed by the screen and cause a signal to be sent to the control system. It is noted that tapping a parking symbol and tapping a parking spot mean the same action, since the symbol is configured at the parking spot. The control system, employing multiple programs and/or algorithms, may change the color or appearance of the selected parking symbol, calculates a trajectory, and makes a driving system to drive the vehicle along the trajectory and stop it at the spot. 
     It may also be designed that no matter where the vehicle is, when the control system receives instructions to stop the vehicle, the system starts gathering data of the surroundings and generating an enhanced map on a screen. The control system then shows available parking spots on the enhanced map for a user to select. Sometimes after a vehicle is stopped at a destination location, a user may want to move the vehicle to another place in the same area. If map mode is still on, the user may tap “Parking Spot” icon and then tap a parking symbol at a preferred parking space. Once the control system receives a signal caused by the tapping acts, it may calculate a route segment and guide the vehicle to leave the current location and drive to the selected place along the route segment. 
     Referring to step  268 , an enhanced map may show nearby parking spots on the screen and the control system may be monitoring whether a user enters any instructions, like tapping “Parking Spot” icon on the map, pushing a stop button or a navigational button. If the control system doesn&#39;t receive any input from the user, it may navigate the vehicle to a scheduled location at step  270 . 
     If the destination info contains area information but doesn&#39;t include a street address or exact address, the control system may navigate the vehicle to any available parking spot in the destination area. For example, the control system may show a selected parking spot on a map to inform the user and drive the vehicle to the selected parking spot. 
     If the user enters instructions, such as pushing a navigational button, the control system may take the command and create a corresponding trajectory at step  272 . For instance, after a turn-right button is pushed, a signal is transmitted to the control system. The control system may ascertain the surroundings and locate a place for turning right. Then turn-right signals are sent to a driving system to guide the vehicle to make the turn. Next, the vehicle may go straight until receiving new instructions from the user. At step  274 , the user pushes a stop button. After the control system receives the stop command, it finds an available parking spot and drives the vehicle there at step  276 . 
       FIG. 18  shows an exemplary flow diagram describing an embodiment related to stopping at a place according to the present invention. Assume that at step  278  an autonomous vehicle arrives at a place and stops there. Next, a user opens a door of the vehicle and gets off at step  280 . It may be arranged that before the user closes the door, a control system of the vehicle may conduct a quick search to ascertain whether the user leaves anything in the vehicle accidently at step  282 . For instance, a user may leave a wallet or a pair of sunglasses on a seat. The search may start when the control system detects that a door is open and the user has gotten off the vehicle and the search may be concluded and search result generated before the door is closed. When a user hasn&#39;t closed the door, the user may still pay certain attention to the vehicle. Thus, it may be more effective to send alert signals before a user shuts the door when something happens. So both searching and alerting actions may be performed quickly and in time. When there are multiple occupants, a search may get started after the last occupant leaves a vehicle. 
     A search for objects left behind may be done using cameras installed in a vehicle. Several cameras may be employed to take pictures from different angles and cover the interior space of the vehicle. Vehicle seat and floor areas may be taken as the main targets. Two groups of pictures may be taken to record the scenes before a user enters the vehicle and after the user leaves the vehicle. The control system may compare the two groups of pictures by certain algorithm and detect any difference between them. If the two groups of pictures are quite similar or the same, the control system may conclude that nothing is left by the user and the search event ends at step  284 . When the control system senses a difference and determines that the difference is caused by a foreign object which the user leaves, it may emit signals to alert the user at step  286 , when the door is still open. Alerting signals may include visible signals like flashing light, audio signals, and/or audio messages to remind the user that something is left in the vehicle. 
     In the meantime, the control system is arranged to keep monitoring whether the object is taken from the vehicle. If the user fails to pay attention to alerting signals and messages and walks away from the vehicle, the control system may contact Service Center and send it related information. Then the control system or Service Center may send the user a message including a picture of the object to explain the situation. If the user responds the message in a given time period, the control system or Service Center may schedule a place and time slot for the user to pick up the object. Meanwhile, if a second user enters the vehicle when the object is still there, the control system may notify the second user of the issue by generating an audible message and/or presenting a textual message on a display of the vehicle. In addition, the control system may ask the second user to place the object in a place of the vehicle, such as a glove compartment. The request may be presented in audible and textual messages. The control system may be arranged to send similar messages to the second user&#39;s device like smartphone too, since a user may pay close attention to incoming personal messages. 
       FIG. 19  shows an exemplary flow diagram describing an embodiment related to payment issues according to the present invention. Assume that at step  288  a vehicle is traveling on a road in autonomous mode. At step  290 , Service Center or a control system of the vehicle checks whether a user has enough funds in an account to pay for the trip. For instance, the user may have submitted instructions to ask the vehicle to take a detour path, which may make a journey longer and cost more than originally estimated. If the user&#39;s account has enough funds for the payment, the control system navigates the vehicle to a scheduled destination autonomously at step  292 . If the user&#39;s account doesn&#39;t have enough funds, the control system may show a message on a display of the vehicle possibly with an audible signal to get the attention of the user at step  294 . The message may be arranged to urge the user to add funds to the account, e.g., “Not Enough Funds in Your Account. Please Add Funds”. Next, the control system may await user action to settle payment issues at step  296 . If the user makes a payment in time, the control system drives the vehicle to the destination autonomously at step  292 . If a payment is not received within a given time, the control system may present another message. This message is made to inform the user that the vehicle has to stop due to inadequate funds. Examples of such a message may include “Not Enough Funds in Your Account. Vehicle Will Stop Soon”. Next at step  298 , the control system may find a nearby parking space, calculate a trajectory, and drive the vehicle there. If there is a certain amount of funds remaining in the account, the user may select a new destination which may be covered by the balance. The selection may be made before or after the vehicle is stopped. Once the control system gets the new destination and approves it, it may calculate a route and navigate the vehicle to the new place along the route autonomously. 
     As there is a method to deal with inadequate payment, it may be designed that after a user submits instructions en route, the control system may take and implement the instructions immediately without making sure that the user has paid enough or the user&#39;s account has enough funds to support it. In other words, after the control system receives a user quest for a maneuver, the system is arranged to calculate a route segment and implement the request first. In the meantime or a short while later, the control system may start checking whether the user has paid enough to cover the additional cost, has an account with enough funds, or uses a credit card for payment. The method provides for a user an option to change a route or take a detour without delay, which makes it easy and convenient to navigate an autonomous vehicle. It is noted that before a vehicle sets off at a pickup location, any payment issue has to be resolved. If the control system can&#39;t clear a payment matter, the system may not start a journey. 
       FIG. 20  shows an exemplary flow diagram describing an embodiment according to the present invention. Assume that an autonomous vehicle obtains destination info at step  300  and is traveling autonomously along a scheduled route at step  302 . As a user may submit instructions anytime, a control system of the vehicle monitors user input at step  304 . If the control system doesn&#39;t receive any user instruction, the scheduled route remains unchanged at step  306 . The control system guides the vehicle to a destination autonomously at step  308 . If the control system receives user instructions, such as a request to make a turn, the control system calculates a route segment to implement the order at step  310 . Next the system drives the vehicle autonomously on the route segment at step  312 . Meanwhile, the control system keeps monitoring whether the user enters any new instructions at step  314 . If new instructions are received from the user, the control system goes through steps  310  and  312  one more time. If the user doesn&#39;t submit any input within a predetermined distance starting from a location where the latest instructions are entered, the control system calculates a revised route to go to the destination at step  318 . Next, the vehicle autonomously navigates to the destination on the revised route at step  320 . 
       FIG. 21  shows another exemplary flow diagram describing an embodiment according to the present invention. Assume that an engine of an autonomous vehicle is started at step  322 , but a control system of the vehicle hasn&#39;t obtained destination information yet. The control system is ready to take user instructions at step  324 . If the user doesn&#39;t enter any input, the control system may keep the vehicle at a parking place at step  326 . If the user enters instructions, the control system calculates a route segment based on the instructions and road conditions at step  328 . Then the control system navigates the vehicle autonomously on the route segment at step  330 . During the journey, if the control system receives a stop command at step  332 , which may happen when the user pushes a stop button, the system locates a parking spot nearby after evaluating the surrounding conditions and stops the vehicle there at step  334 . If the user doesn&#39;t enter a stop command, the control system continues to drive the vehicle along the route segment and at the same time checks whether it is time to receive new instructions from the user at step  336 . If the user doesn&#39;t need to submit new instructions, the journey along the route segment continues. If it is time for the user to enter a new request, the control system monitors user input at step  338 . The control system may present a message to remind the user that new instructions are needed and the vehicle will stop without the new instructions from the user. Next, if the user inputs new instructions, another route segment is calculated and the control system begins a new round from step  328 . If the user doesn&#39;t enter any instructions within a predetermined distance, the control system finds a parking spot and stops the vehicle there at step  340 . 
       FIG. 22  shows yet another exemplary flow diagram describing an embodiment according to the present invention. Assume that an autonomous vehicle receives user info, a pickup location, a destination location, and a scheduled route from Service Center at step  342 . A control system of the vehicle then navigates the vehicle to the assigned pickup location at step  344 . Next, a user shows up and enters check-in info. The control system receives and verifies the check-in info at step  346 . Then the control system starts the vehicle&#39;s engine and travels towards the destination at step  348 . During the journey, the control system keeps monitoring whether the user enters any instructions at step  350 . If the user doesn&#39;t submit any request, the control system maintains the scheduled route at step  352  and navigates the vehicle to the destination autonomously at step  354 . 
     If the user enters navigational instructions, the control system calculates a route segment at step  356  after receiving the info. Next, the control system guides the vehicle autonomously along the route segment at step  358  and shows the user the route segment on a display of the vehicle. Then at step  360 , the control system checks whether it&#39;s time for the user to submit new instructions. If the user doesn&#39;t need to give new instructions, the vehicle continues to drive autonomously along the route segment. If it&#39;s time for the user to give new input, the control system awaits it at step  362 . If the user enters instructions, a new round begins and the control system calculates a new route segment at step  356 . If the user doesn&#39;t enter instructions within a given distance, the control system starts calculating a revised route to the destination at step  364 . Then at step  366 , the vehicle travels along the revised route autonomously and shows the revised route on the display. 
       FIG. 23  shows yet another exemplary flow diagram describing an embodiment according to the present invention. Assume that an autonomous vehicle is parked at a parking lot at step  368 . Then at step  370 , a control system of the vehicle detects that a user enters the vehicle using various sensors. At step  372 , the control system receives info that the user has made a payment to ride on the vehicle. The payment info may come from a transaction system at the vehicle or from Service Center if the payment is processed there. Next the control system checks whether destination info is received at step  374 . If the control system has destination info, it calculates a route to a destination and starts a journey at step  376 . Next at step  378 , the control system navigates the vehicle to the destination autonomously along the calculated route. 
     If the control system doesn&#39;t receive any destination information, it may guide the vehicle to travel on route segments which may be generated separately along a time line. At step  380 , the control system receives user instructions, like going forward or turn-right. At step  382 , the control system calculates a route segment based on road conditions and starts the vehicle. Next, the control system navigates the vehicle along the route segment autonomously at step  384 . After that, the control system receives additional instructions from the user, calculates additional route segments, and navigates the vehicle on the route segments respectively. Next at step  386 , the control system receives a stop command. Consequently at step  388 , the control system senses the surroundings, shows the stop command on a display of the vehicle, finds an unoccupied parking spot, calculates a trajectory, and drives the vehicle there. 
       FIG. 24 -A shows an exemplary control panel  94  of an autonomous vehicle according to the present invention. Control panel  94  may be located beside a front seat or on a dashboard. Buttons on the panel may be physical hard buttons or virtual soft buttons on a touch screen. Like control panel  56  of  FIG. 6 -A, a start and stop button are configured on panel  94  for starting and stopping the vehicle. But unlike panel  56 , there are five navigational buttons, instead of four. Navigational buttons  74 ,  76 ,  78 ,  80 , and  82  are arranged to represent forward, backward, turn-left, turn-right, and U-turn commands. After a user pushes a navigational button to submit a navigational request, a signal is transmitted to a control system of the vehicle. Next, the control system may send signals to a driving system of the vehicle which may drive the vehicle to go forward, backwards, turn left, turn right, or make a U-turn. Since backing and U-turn functions are assigned to two buttons, it becomes straightforward to give reversing or U-turn instructions. It may be arranged that buttons on panels  94  and  56  may have the same functions or even the same design except the backward and U-turn representations. It is noted that the five buttons of  FIG. 24 -A correspond to five fundamental commands for navigation, meaning another simple, concise, and intuitive configuration for a control panel. Additionally, backward button  76  and U-turn button  82  are arranged to be separated by at least a given distance on the panel for distinction purpose and easy operation. 
       FIG. 24 -B shows an exemplary control panel  96  of an autonomous vehicle according to the present invention. Control panel  96  may function in a similar way to panel  94 , and may be located beside a front seat of the vehicle or in a dashboard area. There are a start and stop button arranged for starting and stopping the vehicle respectively. Navigational instructions may be issued via a knob  98  of a joystick. A user may shift knob  98  to five positions to submit orders to drive forward, backwards, turn left, turn right, and make a U-turn. The five positions are represented by five arrow labels  84 ,  86 ,  88 ,  90  and  92  respectively. Comparing  FIG. 24 -B with  FIG. 24 -A, it is seen that shifting knob  98  to five positions are equal to pushing the five navigational buttons, while one position corresponds one button with the same navigational effect. The five shifting places again present a simple, concise, and intuitive arrangement for control panel design. 
     Furthermore, it may be arranged that a control system of a vehicle may not take another order within a time period when a maneuver is being implemented. For instance, after the control system receives a user request for a maneuver, it calculates a route segment and sends signals to a driving system to perform the maneuver. When the maneuver is being performed, the control system may not accept another request from the user. If a user keeps pushing a navigational button, the control system is arranged to recognize the continued push as one order before a maneuver is completed. Thus only after a maneuver is implemented, the control system may take a continued button-push as the next request. The same is true for shifting a knob. A user may shift a knob to a position and then release it to submit a navigational request. After a given short time period, the knob may automatically return to the origin, the place before being shifted. If a user shifts the knob to a place and then holds the knob there so that the knob doesn&#39;t return to the origin, the holding act may be designed to be equal to pushing a navigational button continuously. Thus as just discussed, holding a knob in a place only produces one request in a time period when a maneuver is in the process of implementation. And holding a knob in a place may cause submission of the same navigational request after a previous one is fulfilled. 
     Since a user may change mind after submitting a request, certain rules may be made for handling such situations. It may be arranged that a control system of a vehicle determines whether to cancel a previous order after receiving another order based on the feasibility of executing the new order. For instance, after receiving instructions to do a maneuver, the control system calculates a route segment and sends signals to a driving system to navigate the vehicle accordingly. Next the control system receives another order for a different maneuver from the user. After getting the new order, the control system calculates a new route segment and then calculates the feasibility of traveling along the new route segment. If it is doable to maneuver along the new route segment, the control system may cancel the previous order and guide the vehicle along the new segment. If it is illegal, unsafe, or impossible to travel along the new segment, the control system may decline to accept the new order and notify the user that the new order is not taken by presenting a message on a display of the vehicle. 
       FIG. 25  shows a graphic diagram to illustrate an embodiment according to the present invention. A road map  510  is presented on a screen  512  of an autonomous vehicle  500 . Screen  512  may also serve as an interface of a control system of the vehicle. Map  510  shows two main roads, Main Street and First Avenue. There are also a parking lot  508  and two side roads, East Lane and West Lane on the map. Assume that traffic light is configured at an intersection  514 , a junction of the two main roads. Vehicle  500  is traveling on Main Street towards First Avenue. When a user in vehicle  500  pushes a forward button to submit a forward request, vehicle  500  may be arranged to go straight along Main Street for a predetermined distance. The case is relatively simple. But when the user submits a turn-right or turn-left request, it may become complicated, since there are three places for turning right and two places for turning left as shown in the figure. 
     Assume that the user pushes a turn-right button. As seen in  FIG. 25 , vehicle  500  has three chances to turn right, i.e., at East Lane, an entrance of parking lot  508 , and intersection  514 . As the description above, the control system may be arranged to perform a right turn at the first intersection ahead of the vehicle. By the configuration in the figure, the control system may try to turn right onto East Lane. If it is too late to slow down for East Lane, the control system may decline the request and notify the user of the situation with a message presented on screen  512 , such as “Cannot turn at East Lane”. Next, if the user pushes turn-right button again, the control system may calculate a route segment for turning right at intersection  514  and display a message such as “Turn right at First Ave” on the screen. It may be arranged that the entrance of parking lot  508  is not considered as a place to make a turn in the process, since it is not at an intersection. 
     But in real life, a user may want to turn at any allowable place. In addition, turning at the next intersection only may cause anxiety and uneasiness for some users. Thus after the control system receives a turn-right signal, three arrow-shaped icons  502 ,  504 , and  506  with a label “Turn Here” may be configured to appear on map  510  to represent the three places where turn-right is allowable. Hence, after the user pushes a turn-right button, the three icons may show up on screen  512 . The user may tap an icon to select a place to make the turn. Once an icon is tapped, the icon may become brighter or changes color, while the other two icons may be shrunk to become a smaller arrow with no label attached. For instance, icon size reduction may be around fifty percent or more. Once the control system receives a tapping signal, the system may calculate a first route segment and navigate the vehicle to make the turn. If the user changes mind before the vehicle turns right, the user may tap one of the smaller arrows, which may regain the original size in response along with appearance of a label while the icon, which is tapped previously, becomes a smaller arrow without a label. Next, the control system may process the new order, calculate a second route segment, and determine whether the second route segment is implementable. If the answer is yes, the control system may guide the vehicle along the second route segment and make the turn. 
     In  FIG. 25 , three places are presented where turn-right is doable. The places are labeled by icons  502 ,  504 , and  506 . In order to make it easy to handle, it may be arranged that after a user submits a turn-right request, all places within a given range where turn-right is allowed may be marked by an icon on a map. The icon may look like the arrow-shaped icons of  FIG. 25 . A given range may be defined by Service Center and it may represent a segment of a roadway which is in front of a vehicle. An exemplary value of a given range may be of one hundred to two hundred yards, which may give a user adequate time to make a decision and submit a request. The value of a given range may also be speed dependent and it may increase when vehicle speed increases and decrease when vehicle speed decreases. Hence, after a user pushes a turn-right button, the control system may display a map on a screen and show icons at all places where a vehicle may be allowed to turn right within a given range on a roadway or along a forward direction. The user may tap an icon to select a place for making the turn. 
     To make it easy for submitting a turning order and then selecting a place to make a turn, navigational buttons may be configured in an interface of a control system, or navigational buttons and a map may be shown together on a screen. For instance, a screen may be arranged to have two parts. One part may show a map, while the other part may show some functional icons, messages, and a button configuration like that of  FIG. 6 -A or  24 -A. The button configuration may be arranged to look like and work like control panel  56  or  94 . So a user may have two options to enter instructions: Via a stand-alone control panel or an interface of a control system where a map and navigational buttons are presented side by side. 
     It is noted that the same method applies to turn-left and U-turn commands. For instance, after a user enters one of these navigational instructions, “Turn Here” icons may appear at some places on a map for user selection. When there is only one place for making a turn, a “Turn Here” icon may still appear to assure a user, even though there is no need to select it. Label “Turn Here” is for illustration purpose only, which may be replaced by other labels such as “Turning”. 
     CONCLUSION, RAMIFICATIONS, AND SCOPE 
     Thus it can be seen that systems and methods are introduced for improving autonomous driving. 
     The improved systems and methods have the following main features and advantages:
         (1). A user may navigate an autonomous vehicle conveniently, intuitively, and without safety concerns;   (2). A user may push a navigational button to implement a driving maneuver and cause a vehicle to travel for a predetermined distance autonomously;   (3) Traditional road map and real-time measurement data may be combined to construct an enhanced map which shows exiting paths and available parking spots in surrounding areas;   (4). A user may tap a parking spot on an enhanced map to select it as a stopping place; and   (5). A user may use multiple methods including a printout or a simple code to check in a vehicle.       

     Although the description above contains many specificities, these should not be construed as limiting the scope of the invention but as merely providing illustrations of some of the presently preferred embodiments. Numerous modifications will be obvious to those skilled in the art. 
     Ramifications: 
     As a vehicle reservation process may be administered by Service Center, the exemplary flow diagram depicted in  FIG. 2  may also be illustrated from another angle. For instance, a server at Service Center may receive a reservation request from a user via certain app, the center&#39;s website, or a phone call. Next, the user is asked to submit a pickup location and destination info. After the server receives pickup and destination info, it calculates a route and an estimate on the cost. The server presents cost info to the user and asks the user to select a payment method. The user may make a payment during the reservation process or do it later. After the payment process is completed, the server presents check-in options for the user to choose from. The options may include NFC, QR code, user ID, and simple code methods. The user may select one or more methods for the purpose of convenience. After receiving the user&#39;s choice of check-in method, the server may send the user a confirmation message regarding the reservation via an email or a short message. 
     Besides pushing buttons or shifting a knob to places, a user may also say a word or sentence to issue verbal instructions via a voice recognition mechanism. For instance, a user may say to a display of a vehicle “forward”, “backward”, “turn left”, “turn right”, or “U-turn” to submit a navigational request. To make a verbal command more effective, an “Input Verbal Request” icon may be configured on the display. A user may tap the icon first, which may be arranged to trigger a voice recognition system and alert a control system of the vehicle, and then say driving instructions to the display. A voice recognition component may be integrated with the display or located beside it. 
     A user may also submit a request using finger or hand gestures, assuming that a gesture detection mechanism is turned on. The gesture detection sensor may employ a camera which takes pictures and videos of gestures. The pictures and videos may be analyzed by certain algorithm to recognize user instructions or gesture commands. 
     Check-in methods may also include facial recognition and other suitable techniques such as fingerprint verification. For instance, a user may select facial recognition as a check-in method so that the user doesn&#39;t need to prepare anything when riding an autonomous vehicle. After a reservation is completed, Service Center may assign a vehicle to the user and transmit to the vehicle the user&#39;s facial data. Later on, the vehicle may take pictures of the user and conduct facial recognition. The user may check in the vehicle once his or her identity is confirmed. 
     As discussed in the above, a display of an autonomous vehicle may be arranged to show an enhanced map on a screen after the vehicle arrives in a destination area or is in a close distance to a destination location. A user may utilize the enhanced map to select a parking spot and the vehicle may drive there accordingly. As an enhanced map may show all available parking spots in surrounding areas, it provides a method to stop a vehicle at a preferred location easily and conveniently. Furthermore, it may be arranged that after a user taps a “Parking Spot” icon and then taps to select a parking spot on an enhanced map, a rotatable vehicle-shaped graphic object may appear at the spot. The front and rear ends of the object may represent the front and rear ends of a vehicle. A user may rotate the object to change its orientation and the object&#39;s orientation may represent the orientation of a vehicle after it stops at the spot. Hence, a user may tap a parking spot on an enhanced map to select where to stop a vehicle and rotate an object presented at the spot to select a direction the vehicle faces when it stops there. The option makes it simple and easy to park an autonomous vehicle at a selected location with selected orientation. 
     As a vehicle may be allowed to stop at a place with restricted orientation, like either facing outwards or inwards, a user may only have limited orientation choices. If a user uses fingertip to rotate a vehicle-shaped object on a map on a screen and aligns it to a prohibited direction, the object may be “bounced” and may rotate to face an allowable direction automatically as a countermeasure to avoid an error. 
     Furthermore, a rotatable vehicle-shaped graphic object may be configured on a regular map as well. Similar to descriptions above, an object may be arranged for selecting and indicating a vehicle&#39;s orientation direction. As a regular map may only provide an approximate area for parking, exact location of a parking spot may not be determined in advance. Even though a parking spot can&#39;t be decided on a regular map, determination of vehicle orientation may still be helpful in some cases. For instance, getting the right orientation may provide convenience when there is a need to load or unload goods. Thus, a “Parking Spot” icon may be arranged for a regular-map setting too. A control system may present a rotatable object, e.g., a vehicle-shaped graphic object, at a parking place on a map after the parking place is chosen by a user as a destination. For example, the user may tap a “Parking Spot” icon presented on a map and then tap a parking place on the map to select it. Next, a graphic object may appear and the user may rotate the object to choose an allowable orientation direction, assuming that the control system or Service Center has info on orientation direction at the parking place. After the control system gets the input and the vehicle arrives, the control system may calculate a trajectory, park the vehicle at the parking place, and make the vehicle oriented along the chosen direction. 
     In a parking lot environment, it may be arranged that a control system of a vehicle may make the vehicle take a turn anywhere as long as it is legal, safe, and doable, after a user pushes a turn-left or turn-right button. For instance, the control system may create a trajectory and the vehicle may follow the trajectory and turn onto any path or unoccupied paved area except a marked parking space. It is noted that a user may navigate a vehicle to an unspecified parking space by pushing a stop button or to a specified parking space via using the “Parking Spot” icon and enhanced map. 
     Assume that a user gets in an autonomous vehicle at a parking lot. After selecting a payment method and settling payment issues, the user pushes a start button to start an engine of the vehicle. Assume that the user hasn&#39;t provided destination information and as a result, a control system of the vehicle starts monitoring whether the user enters any input to set forth for a journey. Next, without worrying about collisions or other accidents, the user may push navigational buttons multiple times to navigate the vehicle out of the parking lot. 
     As another scenario, assume that after starting the engine, the user pushes navigational buttons a few times and the vehicle is still in the parking lot. Assume that the user hasn&#39;t provided destination information. If the user stops giving further instructions for a given short time after a maneuver is performed, say five to ten seconds, the control system may take it over, calculate a route segment, and navigate the vehicle out of the parking lot autonomously. In addition, for a user who doesn&#39;t like to navigate the vehicle at the parking lot, a one-action process may be configured. Again assume that the user hasn&#39;t provided destination information. The user may only need to do one thing after starting the engine, i.e., pushing any one of the navigational buttons. After the control system receives a signal of button activation, it may show a message such as “Going out of parking lot” on a screen of the vehicle, generate a route segment, and navigate the vehicle out of the parking lot autonomously. The user may intervene by pushing a navigational button anytime along the route segment. 
     Again assume that a vehicle is started at a parking lot and ready to set out but a control system of the vehicle hasn&#39;t gotten destination info yet. Once the control system receives a signal which indicates that a navigational button is pushed, the system may calculate a first route segment, send signals to a driving system of the vehicle, and make the driving system drive the vehicle out of a parking space and then out of the parking lot autonomously. Meanwhile, the control system calculates a second route segment. After the vehicle leaves the exit of the parking lot, the control system may be arranged to drive it along the second route segment. For instance, if it is an intersection and the vehicle is allowed to go straight, turn left, and turn right after exiting the parking lot, the control system may guide the vehicle to go straight through the intersection. If the vehicle is allowed to turn left and turn right only, the control system may guide the vehicle to turn right. If there is only one path out there, the path may be taken. Next, the control system may drive the vehicle along the same roadway or to go straight through one or more intersections on the second route segment. During the journey, the control system may show the current driving action and/or the next driving action on a display of the vehicle to inform the user. During the journey, the user may enter instructions anytime to navigate the vehicle or enter destination info. In case the user doesn&#39;t enter any instructions, the control system may present an alert message about an incoming stop event on the screen and stop the vehicle after it travels the second route segment. 
     In some cases, when a user is travelling in an autonomous vehicle, the user may want to change destination for some reasons. As discussed when explaining embodiments of  FIG. 4 , a “Select Destination” icon may be arranged on a screen of a display or in an interface of a control system. A user may tap the icon and then enter new destination info by keying in an address, tapping a spot on a map, or scribbling to create a destination area on a map. After the control system receives a new destination, it may calculate a new route and guide the vehicle to the place along the new route. A user may change destination anytime, whether a vehicle is traveling on a road or has already arrived at a destination. 
     As described above, a route may be calculated by a control system of a vehicle after it obtains pickup location and destination info. The route may be changed by a user anytime and multiple times before a journey and during a journey, while the destination may remain the same or be changed as well. Assume that a display with a touch screen is installed in the vehicle. The screen may serve as an interface of the control system. On the screen, the control system may be arranged to show a “Change Route” and “Confirm Route Change” icon, wherein the former is used to start a route change session and the latter to conclude a route change session. Once a user taps “Change Route” icon, a current route, i.e., a route in current use, may appear on a map. Then the control system may monitor what the user does to the route. If the user uses fingertip to tap a spot on the route, the spot may be considered as the start point where a route change begins. Then the user may use fingertip to draw a detour line along roads on the map. Alternatively, a detour line may also be drawn from a first spot far away from the route to a second spot on the rout. Still the second spot may be called the start point, since it is on the route. A detour line may comprise one or more straight lines and/or one or more curved lines depending on road features in a region. Once drawing of the detour line is finished, the user may tap “Confirm Route Change” icon on the screen to finalize the change. After that, a revised route is created which contains part of the previous route and the detour line. Additionally, a “Cancel Route Change” icon may be configured on the screen. A user may tap “Cancel Route Change” icon to abort a route change session and erase a detour line, when the user decides not to make any change. 
     Route revision may lead the vehicle to any place. If a detour line ends at a point on the current route, it may mean the current destination remains the same and the user wants to get back to the current route at that spot. Once the control system receives the revision info, it creates a new route including the detour line for the vehicle. If the detour line ends at a spot away from the current route, the spot may or may not be a new destination. A “Confirm New Destination” icon and “Keep Current Destination” icon may be arranged to appear on the screen together. The user may tap “Confirm New Destination” icon to make the spot as the new destination. After the control system receives user input on the new destination, it navigates the vehicle to it along the detour line autonomously. If the user taps “Keep Current Destination” icon, the control system may calculate a route segment which connects the spot, i.e., the end of the detour line, and the current destination and navigate the vehicle along the detour line and the route segment autonomously. If the detour line or part of the detour line which the user draws is prohibited or not allowed, the control system may calculate a route segment to replace it automatically and show the result on the screen. For instance, if driving on a section of the detour line is prohibited, the control system may revise it, make the vehicle drive along another road nearby, and show the prohibited section and the other road nearby on the screen. 
     Therefore a user may change a route or create a detour line easily and flexibly. It may be arranged that a control system verifies a start and end point of a detour line first, after the line is drawn by a user. A start point has to be on the current route or at a spot close to it. In the latter case, the control system may automatically correct the error by calculating a line which connects the spot and a point on the current route. An end point may be anywhere on a map, even at a prohibited place, such as in a pedestrian-only area, since the control system may automatically correct it, move it to a close-by spot, and present to the user the correction on a screen. Once the start and end points are verified, the control system may check the detour line to ascertain whether it is legal and allowable for driving. As mentioned, certain errors may be tolerated, e.g., a detour line which a user draws may even go through a building, since the control system may revise any part of a detour line when needed. The control system may calculate driving time to achieve an optimized result, when it adds roads to correct detour line errors. After corrections are made by the control system, a revised detour line may be presented on the screen. If the user accepts the revised detour line, the user doesn&#39;t need to do anything. If the user doesn&#39;t like the revised detour line, the user may tap “Change Route” icon to start a new route change session. The user may also tap “Cancel Route Change” icon to erase the revised detour line completely. 
     A control system of an autonomous vehicle may be arranged to determine the speed of the vehicle autonomously. The system may choose a speed based on road conditions and speed of surrounding vehicles. In certain situations, the control system may be allowed to make a choice within a speed range. In such cases, the control system may be arranged to select a value in the middle of the range. Since some users may prefer a higher or lower speed, it may be designed that vehicle speed is adjustable within certain limits. For instance, a display of the vehicle may show an “Adjust Speed” icon and current speed. After a user taps the icon, two graphic objects like two arrows may appear on screen under a title “Change Speed”. The user may tap an arrow to increase the speed or the other to reduce the speed within an allowed range. Adjusted speed may be presented on the display. After receiving speed adjustment signals, the control system may send commands to a driving system which may change the vehicle speed accordingly. 
     In  FIG. 6 -A, labels “Forward”, “Backward/U-turn”, “Left”, and “Right” may be placed beside navigational buttons  34 ,  36 ,  38 , and  40 , respectively. The labels may help a user identify the buttons quickly and easily. Similarly in  FIG. 6 -B, labels “Forward”, “Backward/U-turn”, “Left”, and “Right” may be placed beside arrow labels  44 ,  46 ,  48 , and  50 , respectively. Similar labels may be arranged for buttons and arrow labels in  FIGS. 24 -A and  24 -B as well. For instance, labels “Backward” and “U-turn” may be arranged beside buttons  76  and  82  respectively and arrow labels  86  and  92  respectively. 
     When an autonomous vehicle is traveling on freeway, tapping a forward button or shifting a knob to a forward position may cause the vehicle to go straight along the freeway for a given distance, such as a few miles, starting from the location where the request is made. Service Center may determine the value of the given distance, where a few miles may mean two to five miles. But navigational instructions may have a different meaning when commands other than forward are entered. For instance, it may be arranged that when a control system of the vehicle receives a turn-right signal, which may happen after a user pushes a turn-right button, the system may calculate a route segment to guide the vehicle to leave the freeway at the next exit. If the next exit is a freeway-to-freeway interchange, the control system may calculate a route segment to navigate the vehicle to “turn right” at the interchange. Along the route segment, the vehicle may take a ramp which leads to another freeway going to the direction towards the right. In the meantime, the control system may present the route segment on a display to inform the user of the upcoming maneuver. The control system may also present a message to explain the maneuver and an icon which the user may use to cancel the turn-right action. The icon may have a label such as “Cancel Turn-Right Command”. After making a “turn right” maneuver to drive onto another freeway and in the absence of user instructions, the vehicle may be arranged to go straight along it for a given distance, such as a few miles, starting from the interchange. If a “turn right” request causes the vehicle to leave the freeway and drive onto a regular road, the vehicle may follow rules as if it just makes a right turn at a regular intersection per user request, wherein the rules may exclude entering any freeway autonomously. In general, it may be arranged that after implementing a user request, a vehicle may not drive to a ramp leading to a freeway when it navigates autonomously on a road within a predetermined distance. 
     Assume the vehicle is still running on a freeway. When a turn-left button is pushed by the user, the control system may be arranged to generate a route segment that guides the vehicle to make a “left turn” at the next freeway-to-freeway interchange when the interchange is within a given range, say two to three miles. When the interchange is out of the given range and the user pushes a turn-left button, the control system may post a message on the screen and ask the user to confirm the request. A “left turn” act may be implemented using a ramp which takes the vehicle to another freeway going to the left direction. Again after that and in the absence of user instructions, the vehicle may go straight along the freeway for a given distance, such as a few miles, starting from the interchange. When a U-turn button is pushed, the control system may be arranged to calculate a route segment and guide the vehicle to exit the freeway at the next exit and then re-enter the freeway going to the opposite direction through a freeway entrance. Next in the absence of user instructions, the vehicle may drive on the freeway for a given distance, such as a few miles, starting from the entrance. As reversing is prohibited on freeway, the control system may decline any backing request. 
     In some embodiments, a user may also use “Change Route” and “Confirm Route Change” icons, as aforementioned, to change a scheduled or current route along a freeway, especially when a user wants to go from one freeway to another at a complex multi-level interchange. For instance, a user may use fingertip to tap “Change Route” icon on a screen, draw a detour line through or around an interchange on a map, and then tap “Confirm Route Change” icon. The detour line may connect a spot on a freeway which the vehicle is travelling along and another spot on another freeway. And the detour line may cross one or more freeways on the map, which may be ignored by the control system. Next, the control system may calculate a feasible route segment to replace the detour line automatically. After that, the control system may present the route segment on the screen, navigate the vehicle to pass through the interchange along the route segment, and drive onto the selected freeway. In the absence of user instructions, the vehicle may drive on the selected freeway for a given distance, such as a few miles, starting from the interchange. 
     If the control system doesn&#39;t receive any further instruction from a user after making a maneuver and travelling a given distance on a freeway, the system may calculate a route and navigate the vehicle to a prearranged destination or leave the freeway at the next exit and stop the vehicle at a parking place nearby if there is no destination information. 
     Lastly, methods illustrated above may apply to semi-autonomous vehicle as well. The term “semi-autonomous vehicle”, as used herein, may mean a vehicle which has two types of mode or two modes: Autonomous mode and manual mode. The two modes may be switched from one to the other anytime. When road conditions are suitable for autonomous driving, a user may turn on autonomous mode. Once the user determines it is risky for autonomous driving, the user may terminate autonomous mode and starts driving it manually. When the vehicle is in autonomous mode, aforementioned methods may apply, assuming that a semi-autonomous vehicle has a control panel like panel  56 ,  58 ,  94 , or  96  or the same or similar panel configuration on a touch screen of a display, wherein a user may use the panel or the configuration on the touch screen to submit fundamental navigational commands. As described above, the user may also issue navigational commands verbally. 
     Therefore the scope of the invention should be determined by the appended claims and their legal equivalents, rather than by the examples given.