Crowd sourcing data for autonomous vehicle navigation

A navigation system for a vehicle, the system comprising:

• at least one processor programmed to:
• receive from a camera, at least one environmental image associated with the vehicle;
• analyze the at least one environmental image to determine navigation information related to the vehicle;
• transmit the navigation information from the vehicle to a server;
• receive, from the server, at least one update to an autonomous vehicle road navigation model based on the transmitted navigation information, wherein the autonomous vehicle road navigation model includes a three-dimensional spline corresponding to a target trajectory along the road segment;
• and
• cause at least one navigational maneuver by the vehicle based on the updated autonomous vehicle road navigation model.

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

• a communication unit configured to communicate with a plurality of vehicles;
• and
• at least one processor programmed to:
• receive, via the communication unit, the navigation information from the vehicles;
• generate at least a portion of an autonomous vehicle road navigation model, wherein the autonomous vehicle road navigation model includes a three-dimensional spline corresponding to a target trajectory along a road segment;
• and
• transmit at least the portion of the autonomous vehicle road navigation model to at least one of the vehicles to cause a navigational maneuver by the at least one of the vehicles based on the portion of the autonomous vehicle road navigation model.