Crowd sourcing data for autonomous vehicle navigation

At least one non-transitory machine-readable medium including instructions for processing crowdsourced navigation information for use in autonomous vehicle navigation, wherein the instructions, when executed by a mapping server, cause the mapping server to perform operations comprising:

• processing crowdsourced navigation information from a plurality of vehicles obtained by sensors coupled to the plurality of vehicles, wherein the crowdsourced navigation information describes road lanes of a road segment;
• collecting data about a first landmark identified proximate to the road segment, the first landmark comprising a traffic sign;
• generating an autonomous vehicle map for the road segment, wherein:
• the autonomous vehicle map includes a spline corresponding to a lane in the road segment;
• the autonomous vehicle map includes position information of the first landmark identified proximate to the road segment, the position information including at least one of a physical size of the first landmark, a distance between the first landmark and the road segment, a height of the first landmark, or a distance between the first landmark and a second landmark;
• the position information of the first landmark is based on the crowdsourced navigation information from the plurality of vehicles;
• and
• the autonomous vehicle map is configured for an autonomous vehicle to use the position information of the first landmark for vehicle localization relative to the spline;
• and
• distributing the autonomous vehicle map to the autonomous vehicle for use in autonomous navigation over the road segment.

A mapping server for processing crowdsourced navigation information for use in autonomous vehicle navigation, the mapping server comprising:

• at least one processor;
• and
• a memory device including instructions, which when executed by the at least one processor, cause the at least one processor to:
• process crowdsourced navigation information from a plurality of vehicles obtained by sensors coupled to the plurality of vehicles, wherein the crowdsourced navigation information describes road lanes of a road segment;
• collect data about a first landmark identified proximate to the road segment, the first landmark comprising a traffic sign;
• generate an autonomous vehicle map for the road segment, wherein:
• the autonomous vehicle map includes a spline corresponding to a lane in the road segment;
• the autonomous vehicle map includes position information of the first landmark identified proximate to the road segment, the position information including at least one of a physical size of the first landmark, a distance between the first landmark and the road segment, a height of the first landmark, or a distance between the first landmark and a second landmark;
• the position information of the first landmark is based on the crowdsourced navigation information from the plurality of vehicles;
• and
• the autonomous vehicle map is configured for an autonomous vehicle to use the position information of the first landmark for vehicle localization relative to the spline;
• and
• distribute the autonomous vehicle map to the autonomous vehicle for use in autonomous navigation over the road segment.

A vehicle system for assisting autonomous vehicle navigation using crowdsourced navigation information, the vehicle system comprising:

• at least one processor;
• and
• a memory device including instructions, which when executed by the at least one processor, cause the at least one processor to:
• access navigation information at the vehicle system, the navigation information derived from sensor data obtained by a plurality of sensors coupled to the vehicle system;
• provide the navigation information to a mapping server, the navigation information processed by the mapping server including crowdsourced navigation information from a plurality of vehicles obtained by sensors coupled to the plurality of vehicles, wherein the crowdsourced navigation information describes road lanes of a road segment;
• and
• receive an autonomous vehicle map, wherein:
• the autonomous vehicle map includes a spline corresponding to a lane in the road segment;
• the autonomous vehicle map includes position information of a first landmark identified proximate to the road segment, the position information including at least one of a physical size of the first landmark, a distance between the first landmark and the road segment, a height of the first landmark, or a distance between the first landmark and a second landmark;
• the position information of the first landmark is based on the crowdsourced navigation information from the plurality of vehicles;
• and
• the autonomous vehicle map is configured for an autonomous vehicle to use the position information of the first landmark for vehicle localization relative to the spline.

At least one non-transitory machine-readable device including instructions for assisting autonomous vehicle navigation using crowdsourced navigation information, wherein the instructions, when executed by a vehicle system, cause the vehicle system to perform operations comprising:

• accessing navigation information at the vehicle system, the navigation information derived from sensor data obtained by a plurality of sensors coupled to the vehicle system;
• providing the navigation information to a mapping server, the navigation information processed by the mapping server including crowdsourced navigation information from a plurality of vehicles obtained by sensors coupled to the plurality of vehicles, wherein the crowdsourced navigation information describes road lanes of a road segment;
• and
• receiving an autonomous vehicle map, wherein:
• the autonomous vehicle map includes a spline corresponding to a lane in the road segment;
• the autonomous vehicle map includes position information of a first landmark identified proximate to the road segment, the position information including at least one of a physical size of the first landmark, a distance between the first landmark and the road segment, a height of the first landmark, or a distance between the first landmark and a second landmark;
• the position information of the first landmark is based on the crowdsourced navigation information from the plurality of vehicles;
• and
• the autonomous vehicle map is configured for an autonomous vehicle to use the position information of the first landmark for vehicle localization relative to the spline.