Sparse map for autonomous vehicle navigation

A system for navigating a vehicle, the system comprising:

• a non-transitory computer-readable medium including a sparse map for autonomous navigation of the vehicle along a road segment, the sparse map comprising:
• a polynomial representation of a target trajectory for the autonomous vehicle along the road segment;
• and
• a plurality of predetermined landmarks associated with the road segment, wherein the sparse map has a data density of no more than 1 megabyte per kilometer;
• and
• at least one processor configured to execute data included in the sparse map for providing autonomous navigation of the vehicle along the road segment.

A system for navigating a vehicle, the system comprising:

• at least one processor configured to receive data included in a sparse map and execute the data for autonomous navigation of the vehicle along a road segment, the sparse map comprising:
• a polynomial representation of a target trajectory for the autonomous vehicle along the road segment;
• and
• a plurality of predetermined landmarks associated with the road segment, wherein the sparse map has a data density of no more than 1 megabyte per kilometer.

A non-transitory computer-readable medium including instructions that, when executed by a processor, cause the processor to perform a method for providing a sparse map for autonomous vehicle navigation along a road segment, the method comprising:

• receiving, from a first autonomous vehicle, a request for a map including a location associated with the first autonomous vehicle;
• retrieving, based on the associated location and from the sparse map, data relating to a polynomial representation of a target trajectory for the first autonomous vehicle along a first road segment;
• and
• retrieving, based on the associated location and from the sparse map, data relating to a first plurality of predetermined landmarks associated with the first road segment, wherein the sparse map has a data density of no more than 1 megabyte per kilometer;
• providing the data relating to the polynomial representation and the data relating to the predetermined landmarks to the first autonomous vehicle for navigation along the road segment;
• receiving, from at least one second autonomous vehicle, an update related to at least one of a polynomial representation of a target trajectory along a second road segment or a predetermined landmark associated with the second road segment;
• and
• when the first road segment comprises the second road segment or the second road segment is included in a planned trip associated with the first autonomous vehicle, providing the update to the first autonomous vehicle.

A method for providing a sparse map for autonomous vehicle navigation along a road segment, the method comprising:

• receiving, from a first autonomous vehicle, a request for a map including a location associated with the first autonomous vehicle;
• retrieving, based on the associated location and from the sparse map, data relating to a polynomial representation of a target trajectory for the first autonomous vehicle along a first road segment;
• and
• retrieving, based on the associated location and from the sparse map, data relating to a first plurality of predetermined landmarks associated with the first road segment, wherein the sparse map has a data density of no more than 1 megabyte per kilometer;
• providing the data relating to the polynomial representation and the data relating to the predetermined landmarks to the first autonomous vehicle for navigation along the road segment;
• receiving, from at least one second autonomous vehicle, an update related to at least one of a polynomial representation of a target trajectory along a second road segment or a predetermined landmark associated with the second road segment;
• and
• when the first road segment comprises the second road segment or the second road segment is included in a planned trip associated with the first autonomous vehicle, providing the update to the first autonomous vehicle.

A system for providing maps to an autonomous vehicle, the navigation system comprising:

• at least one processor;
• and
• a memory device including instructions, which when executed by the processor, cause the processor to perform functions comprising:
• receiving, from a first autonomous vehicle, a request for a map including a location associated with the first autonomous vehicle;
• retrieving, based on the associated location and from the sparse map, data relating to a polynomial representation of a target trajectory for the first autonomous vehicle along a first road segment;
• and
• retrieving, based on the associated location and from the sparse map, data relating to a first plurality of predetermined landmarks associated with the first road segment, wherein the sparse map has a data density of no more than 1 megabyte per kilometer;
• providing the data relating to the polynomial representation and the data relating to the predetermined landmarks to the first autonomous vehicle for navigation along the road segment;
• receiving, from at least one second autonomous vehicle, an update related to at least one of a polynomial representation of a target trajectory along a second road segment or a predetermined landmark associated with the second road segment;
• and
• when the first road segment comprises the second road segment or the second road segment is included in a planned trip associated with the first autonomous vehicle, providing the update to the first autonomous vehicle.