Iterative map learning based on vehicle on-board sensor data

An apparatus comprising at least one processor and at least one memory storing computer program code, the at least one memory and the computer program code configured to, with the processor, cause the apparatus to at least:

• receive at least one change trigger;
• provide two or more map versions to a plurality of vehicle apparatuses;
• receive two or more responses from at least two of the plurality of vehicle apparatuses, a response of the two or more responses comprising an indicator of a preferred map version, the preferred map version selected by a vehicle apparatus of the plurality of vehicle apparatuses from the two or more map versions;
• analyze the responses to determine a most preferred map version;
• and
• when it is determined that the most preferred map version is a changed map version, update a map database based at least in part on the changed map version.

A computer program product comprising at least one non-transitory computer-readable storage medium having computer-executable program code instructions stored therein, the computer-executable program code instructions comprising program code instructions configured to:

• receive at least one change trigger;
• provide two or more map versions to a plurality of vehicle apparatuses;
• receive two or more responses from at least two of the plurality of vehicle apparatuses, a response of the two or more responses comprising an indicator of a preferred map version, the preferred map version selected by a vehicle apparatus of the plurality of vehicle apparatuses from the two or more map versions;
• analyze the responses to determine a most preferred map version;
• and
• when it is determined that the most preferred map tile version is a changed map version, update a map database based at least in part on the changed map version.

An apparatus comprising at least one processor and at least one memory storing computer program code, the at least one memory and the computer program code configured to, with the processor, cause the apparatus to at least:

• receive two or more map versions;
• receive sensor data corresponding to a link, intersection, or point of interest in the map;
• analyze at least a portion of the sensor data;
• based at least in part on a result of analyzing the at least a portion of the sensor data, select a preferred map version from the two or more map versions, the preferred map version being better aligned with the result than the other of the two or more map versions;
• provide a response indicating the preferred map version.