Pavement marking map change detection, reaction, and live tile shipping

An autonomous vehicle comprising:

• one or more processors;
• and
• at least one computer-readable storage medium having stored therein instructions which, when executed by the one or more processors, cause the autonomous vehicle to:
• determine that light detection and ranging (LiDAR) sensor data captured using at least one LiDAR sensor associated with the autonomous vehicle includes a detected pavement marking;
• compare the LiDAR sensor data that includes the detected pavement marking with corresponding data map points of a pavement marking present in a semantic data map;
• determine, based on the comparing, that a change has occurred between the detected pavement marking and the pavement marking present in the semantic data map;
• determine a severity of the change of the detected pavement marking;
• in response to determining that the severity of the change of the detected pavement marking is greater than an acceptable threshold, update the semantic data map based on the change to produce an updated semantic data map, wherein the semantic data map is updated by selecting between generating local LiDAR intensity tiles or generating colorized tiles for geospatial tiles based on a category of the detected pavement marking;
• and
• navigate the autonomous vehicle based on the updated semantic data map.

A non-transitory computer-readable storage medium comprising:

• instructions stored on the non-transitory computer-readable storage medium, the instructions, when executed by one or more processors, cause the one or more processors to:
• determine that light detection and ranging (LiDAR) sensor data captured using at least one LiDAR sensor associated with an autonomous vehicle includes a detected pavement marking;
• compare the LiDAR sensor data that includes the detected pavement marking with corresponding data map points of a pavement marking present in a semantic data map;
• determine, based on the comparing, that a change has occurred between the detected pavement marking and the pavement marking present in the semantic data map;
• determine a severity of the change of the detected pavement marking;
• in response to determining that the severity of the change of the detected pavement marking is greater than an acceptable threshold, update, the semantic data map based on the change to produce an updated semantic data map, wherein the semantic data map is updated by selecting between generating local LiDAR intensity tiles or generating colorized tiles for geospatial tiles based on a category of the detected pavement marking;
• and
• navigate the autonomous vehicle based on the updated semantic data map.