Crowdsourced detection, identification and sharing of hazardous road objects in HD maps

At least one non-transitory computer readable storage medium comprising a set of instructions, which when executed by a vehicle, cause the vehicle to:

• detect one or more differences between a crowdsourced map of an ambient environment and a real-time volumetric map of the ambient environment;
• send a first message via a vehicle-to-vehicle link, wherein the one or more differences are represented in the first message at a first resolution;
• and
• send a second message via a vehicle-to-infrastructure link, wherein the one or more differences are represented in the second message at a second resolution, and wherein the first resolution is less than the second resolution.

A semiconductor apparatus comprising:

• one or more substrates;
• and
• logic coupled to the one or more substrates, wherein the logic is implemented at least partly in configurable logic or fixed-functionality hardware logic, the logic coupled to the one or more substrates to:
• receive a first message from a first vehicle, wherein the first message includes a first octree representation, from a first vantage point, of one or more differences between a crowdsourced map of an environment and a first real-time volumetric map of the environment;
• receive a second message from a second vehicle, wherein the second message includes a second octree representation of the one or more differences from a second vantage point;
• and
• integrate the first octree representation and the second octree representation into a dynamic layer associated with the crowdsourced map.

At least one non-transitory computer readable storage medium comprising a set of instructions, which when executed by a computing system, cause the computing system to:

• receive a first message from a first vehicle, wherein the first message includes a first octree representation, from a first vantage point, of one or more differences between a crowdsourced map of an environment and a first real-time volumetric map of the environment;
• receive a second message from a second vehicle, wherein the second message includes a second octree representation of the one or more differences from a second vantage point;
• and
• integrate the first octree representation and the second octree representation into a dynamic layer associated with the crowdsourced map.