Vehicle with free-space optical link for log data uploading

A method comprising:

• storing in a memory of a vehicle having a first communication device, by one or more computing devices of the vehicle, map information identifying an area proximate to a structure in which a second communication device is located, wherein the first communication device is configured to transmit a plurality of optical beams at different angles while the vehicle is in the area;
• and
• controlling, by the one or more computing devices, the vehicle to move autonomously to the area for communication alignment with the first communication device, wherein the first communication device is further configured to receive one or more signals from the second communication device in response to the transmission of the plurality of optical beams, the one or more signals indicating an amount of received power of each of the plurality of optical beams that has been received by the second communication device while the vehicle is in the area, and wherein the one or more computing devices is further configured to select one of the plurality of optical beams based on a respective amount of received power of each of the plurality of optical beams.

A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method comprising:

• storing in a memory of a vehicle having a first communication device, map information identifying an area proximate to a structure in which a second communication device is located, wherein the first communication device is configured to transmit a plurality of optical beams at different angles while the vehicle is in the area;
• and
• controlling the vehicle to move autonomously to the area for communication alignment with the first communication device, wherein the first communication device is further configured to receive one or more signals from the second communication device in response to the transmission of the plurality of optical beams, the one or more signals indicating an amount of received power of each of the plurality of optical beams that has been received by the second communication device while the vehicle is in the area, and wherein the one or more processors is further configured to select one of the plurality of optical beams based on a respective amount of received power of each of the plurality of optical beams.