# US 10,502,577 B2 · Iterative map learning based on vehicle on-board sensor data > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,502,577 B2 - Document ID: US10502577B2 - Status: Granted - Kind: B2 - Application number: 15/198,671 - Filed: 2016-06-30 - Published: 2018-01-04 - Granted: 2019-12-10 - Earliest claimed: 2016-06-30 - Assignees: HERE Global B.V. - Applicants: HERE Global B.V. - Inventors: James D. Lynch - Web page: https://patentgrep.com/patent/US10502577B2 ## CPC - G01C 21/3881: {Tile-based structures} - G01C 21/3811: {Point data, e.g. Point of Interest [POI]} - G01C 21/3841: {Data obtained from two or more sources, e.g. probe vehicles} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - G06F 16/2365: {Ensuring data consistency and integrity} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G08G 1/096716: {where the received information does not generate an automatic action on the vehicle control} - G08G 1/096741: {where the source of the transmitted information selects which information to transmit to each vehicle} - G08G 1/09675: {where a selection from the received information takes place in the vehicle} - G08G 1/096775: {where the origin of the information is a central station} - H04W 4/06: Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services - H04W 4/44: for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H] - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract Methods, apparatuses, systems, and computer program products are provided. An example method comprises receiving a change trigger; and providing two or more map versions to a plurality of vehicle apparatuses. The map versions may comprise a stable map version and a changed map version. The example method further comprises receiving two or more responses from at least two of the plurality of vehicle apparatuses. A response comprises an indicator of a preferred map version selected by a vehicle apparatus of the plurality of vehicle apparatuses from the two or more map versions. The example method further comprises analyzing the responses to determine a most preferred map version; and when it is determined that the most preferred map version is a changed map version, updating one or more map databases based at least in part on the changed map version. ## Claims ### Claim 1 A method comprising: receiving at least one change trigger; providing two or more versions of a map tile to a plurality of vehicle apparatuses; receiving two or more responses from at least two of the plurality of vehicle apparatuses, a response of the two or more responses comprising an indicator of a preferred version of the map tile, the preferred version of the map tile selected by a vehicle apparatus of the plurality of vehicle apparatuses from the two or more versions of the map tile, wherein the preferred version of the map tile is automatically selected by the vehicle apparatus based on analysis of sensor data captured by one or more sensors of the vehicle apparatus, the preferred version of the map tile being the version of the map tile of the two or more versions of the map tile that most closely aligns with the sensor data, the sensor data representing the environment about a vehicle that the vehicle apparatus is located onboard; analyzing the responses to determine a most preferred version of the map tile, the most preferred version of the map tile being indicated as the preferred version of the map tile in more of the two or more responses than any other of one or more remaining versions of the map tile of the two or more versions of the map tile; and when it is determined that the most preferred version of the map tile is a changed map tile version, updating a map database based at least in part on the changed map tile version. ### Claim 2 (depends on 1) A method according to claim 1 further comprising: in response to analyzing the responses, generating a second changed map tile version; providing a second two or more versions of the map tile to a second plurality of vehicle apparatuses, the second two or more map versions comprising the second changed map tile version; receiving two or more responses from at least two of the second plurality of vehicle apparatuses, a response of the two or more responses comprising an indicator of a preferred version of the map tile, the preferred version of the map tile selected by a vehicle apparatus of the second plurality of vehicle apparatuses from the second two or more versions of the map tile; and analyzing the responses to determine a second most preferred version of the map tile. ### Claim 3 (depends on 1) A method according to claim 1 wherein the two or more versions of the map tile differ from each other by one or more link attributes, intersection attributes, and/or point of interest attributes. ### Claim 4 (depends on 1) A method according to claim 1 further comprising generating the changed map tile version by changing one or more link attributes, intersection attributes and/or point of interest attributes of a stable map tile version. ### Claim 5 (depends on 4) A method according to claim 4 wherein the change of the one or more link attributes, intersection attributes, and/or point of interest attributes is based at least in part on the at least one change trigger. ### Claim 6 (depends on 1) A method according to claim 1 wherein a change trigger of the at least one change trigger is a sensor data reporting received from a vehicle apparatus. ### Claim 7 (depends on 1) A method according to claim 1 wherein a response of the plurality of responses includes information that identifies the corresponding vehicle apparatus type. ### Claim 8 (depends on 1) A method according to claim 1 further comprising analyzing the responses to determine if a change indicated by the at least one change trigger is a temporary change or a long term change. ### Claim 9 (depends on 1) A method according to claim 1, wherein the two or more versions of the map tile are provided (a) within one map tile or (b) as two separate map tiles representing a same geographic area. ### Claim 10 An apparatus comprising at least one processor and at least one memory storing computer program code, the at least one memory and the computer program code configured to, with the processor, cause the apparatus to at least: receive at least one change trigger; provide two or more versions of a map tile to a plurality of vehicle apparatuses; receive two or more responses from at least two of the plurality of vehicle apparatuses, a response of the two or more responses comprising an indicator of a preferred version of the map tile, the preferred version of the map tile selected by a vehicle apparatus of the plurality of vehicle apparatuses from the two or more versions of the map tile, wherein the preferred version of the map tile is automatically selected by the vehicle apparatus based on analysis of sensor data captured by one or more sensors of the vehicle apparatus, the preferred version of the map tile being the version of the map tile of the two or more versions of the map tile that most closely aligns with the sensor data, the sensor data representing the environment about a vehicle that the vehicle apparatus is located onboard; analyze the responses to determine a most preferred version of the map tile, the most preferred version of the map tile being indicated as the preferred of the map tile in more of the two or more responses than any other of one or more remaining versions of the map tile of the two or more versions of the map tile; and when it is determined that the most preferred version of the map tile is a changed map tile version, update a map database based at least in part on the changed map tile version. ### Claim 11 (depends on 10) An apparatus according to claim 10, wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to at least: in response to analyzing the responses, generate a second changed map tile version; provide a second two or more versions of the map tile to a second plurality of vehicle apparatuses, the second two or more versions of the map tile comprising the second changed map tile version; receive two or more responses from at least two of the second plurality of vehicle apparatuses, a response of the two or more responses comprising an indicator of a preferred version of the map tile, the preferred version of the map tile selected by a vehicle apparatus of the second plurality of vehicle apparatuses from the second two or more versions of the map tile; and analyze the responses to determine a second most preferred version of the map tile. ### Claim 12 (depends on 10) An apparatus according to claim 10 wherein the two or more versions of the map tile differ from each other by one or more link attributes, intersection attributes, and/or point of interest attributes. ### Claim 13 (depends on 10) An apparatus according to claim 10 wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to at least generate the changed map tile version by changing one or more link attributes, intersection attributes and/or point of interest attributes of a stable map tile version. ### Claim 14 (depends on 13) An apparatus according to claim 13 wherein the change of the one or more link attributes, intersection attributes, and/or point of interest attributes is based at least in part on the at least one change trigger. ### Claim 15 (depends on 10) An apparatus according to claim 10 wherein a change trigger of the at least one change trigger is a sensor data reporting received from a vehicle apparatus. ### Claim 16 (depends on 10) An apparatus according to claim 10 wherein a response of the plurality of responses includes information that identifies the corresponding vehicle apparatus type. ### Claim 17 (depends on 10) An apparatus according to claim 10 wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to at least analyze the responses to determine if a change indicated by the at least one change trigger is a temporary change or a long term change. ### Claim 18 (depends on 10) An apparatus according to claim 10, wherein the two or more versions of the map tile are provided (a) within one map tile or (b) as two separate map tiles representing a same geographic area. ### Claim 19 A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code instructions stored therein, the computer-executable program code instructions comprising program code instructions configured to: receive at least one change trigger; provide two or more versions of a map tile to a plurality of vehicle apparatuses; receive two or more responses from at least two of the plurality of vehicle apparatuses, a response of the two or more responses comprising an indicator of a preferred version of the map tile, the preferred version of the map tile selected by a vehicle apparatus of the plurality of vehicle apparatuses from the two or more versions of the map tile, wherein the preferred version of the map tile is automatically selected by the vehicle apparatus based on analysis of sensor data captured by one or more sensors of the vehicle apparatus, the preferred version of the map tile being the version of the map tile of the two or more versions of the map tile that most closely aligns with the sensor data, the sensor data representing the environment about a vehicle that the vehicle apparatus is located onboard; analyze the responses to determine a most preferred version of the map tile, the most preferred version of the map tile being indicated as the preferred version of the map tile in more of the two or more responses than any other of one or more remaining versions of the map tile of the two or more versions of the map tile, and when it is determined that the most preferred version of the map tile is a changed map tile version, update a map database based at least in part on the changed map tile version. ### Claim 20 (depends on 19) A computer program product according to claim 19, wherein the two or more versions of the map tile are provided (a) within one map tile or (b) as two separate map tiles representing a same geographic area. ### Claim 21 An apparatus comprising at least one processor and at least one memory storing computer program code, the apparatus being onboard a vehicle traversing at least a portion of a road network the at least one memory and the computer program code configured to, with the processor, cause the apparatus to at least: receive two or more versions of a map tile representing part of a road network; receive sensor data corresponding to a link, intersection, or point of interest in the map tile, the sensor data captured by one or more sensors of the apparatus; analyze at least a portion of the sensor data; based at least in part on a result of analyzing the at least a portion of the sensor data, automatically select a preferred version of the map tile from the two or more versions of the map tile, the preferred version of the map tile selected based on the preferred version of the map tile being better aligned with the result than the other of the two or more versions of the map tile; and provide a response indicating the preferred version of the map tile. ### Claim 22 (depends on 21) An apparatus according to claim 21, wherein the sensor data corresponding to the link, intersection, or point of interest is collected by one or more sensors on-board a vehicle as the vehicle traverses the link, intersection, or vicinity of the point of interest. ### Claim 23 (depends on 21) An apparatus according to claim 21 wherein the two or more versions of the map tile differ from each other by one or more link attributes, intersection attributes, and/or point of interest attributes. ### Claim 24 (depends on 21) An apparatus according to claim 21 wherein the at least one memory and the computer program code are further configured to, with the processor, cause the apparatus to at least: prior to receiving the two or more versions of the map tile, receive and analyze sensor data; determine at least one difference between a result of analyzing the sensor data and a corresponding map tile; and report at least a portion of the sensor data.