Vehicle navigation

A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:

• while a vehicle is in an area, retrieve a stored map uncertainty value of map data for the area, wherein the stored map uncertainty value gives a range of uncertainty for at least one indicator of a travel path specified by the map data;
• upon estimating the travel path and a vehicle pose, determine a dynamic map uncertainty value based on a pose uncertainty value and a travel path uncertainty value, wherein the pose uncertainty value gives a range of uncertainty for the vehicle pose in three degrees-of-freedom based on vehicle sensor data, and the travel path uncertainty value gives a range of uncertainty for the at least one indicator of the estimated travel path based on vehicle sensor data;
• upon determining that the dynamic map uncertainty value is less than the stored map uncertainty value, update the map data based on the vehicle sensor data;
• and
• upon updating the map data, operate the vehicle based on the updated map data.