Map reports from vehicles in the field
View Patent ↗Aspects of the present disclosure relate generally to systems and methods for assessing validity of a map using image data collected by a laser sensor along a vehicle path. The method may compile image data received from the laser sensor. The map subject to assessment may define an area prohibiting entry by a vehicle.
1. A method for assessing validity of a map, comprising:
determining, by one or more processors of a vehicle, a plurality of locations of the vehicle along a path traveled by the vehicle, using environmental image data captured by a sensor of the vehicle;
determining, by the one or more processors, a trajectory of the vehicle based solely on the determined plurality of locations;
comparing, by the one or more processors, the trajectory with a map of a same area as the trajectory;
assessing, by the one or more processors, validity of the map based on the comparison by determining whether the map includes a plausible path consistent with the trajectory;
maneuvering the vehicle based on the assessed validity of the map; and
transmitting a signal to a server indicating that the map is invalid when the map does not include the plausible path consistent with the trajectory.
2. The method of claim 1 , further comprising:
transmitting, by the one or more processors, the signal to the server via a network indicating a result of the assessing.
3. The method of claim 1 , wherein the map includes an area prohibiting entry for travel.
4. The method of claim 1 , wherein the sensor comprises at least one of a laser sensor, a Global Positioning System sensor, or a camera.
5. The method of claim 1 , further comprising transmitting a signal to the server indicating that the map is valid when the map includes the plausible path consistent with the trajectory.
6. The method of claim 1 , further comprising determining, by the one or more processors, a current location of the vehicle.
7. The method of claim 6 , further comprising assessing, by the one or more processors, validity of the map also based on whether the map includes a plausible location consistent with the current location of the vehicle.
8. A system for assessing validity of a map, comprising:
one or more computing devices having one or more processors; and
memory storing a map associated with a vehicle path and instructions executable by the one or more processors to:
determine by a vehicle a plurality of locations of the vehicle along a path traveled by the vehicle, using environmental image data captured by a sensor of the vehicle;
determine a trajectory of the vehicle based solely on the determined plurality of locations;
compare the trajectory to a map of a same area as the trajectory;
assess validity of the map based on the comparison by determining whether the map includes a plausible path consistent with the trajectory;
maneuver the vehicle based on the assessed validity of the map; and
transmit a signal to a server indicating that the map is invalid when the map does not include the plausible path consistent with the trajectory.
9. The system of claim 8 , wherein the map includes an area prohibiting entry for travel.
10. The system of claim 8 , wherein the instructions further comprise instructions to transmit the signal to the server via a network indicating a result of the assessing.
11. The system of claim 8 , wherein the sensor comprises at least one of a laser sensor, a global positioning unit, or a camera.
12. The system of claim 8 , wherein the instructions further comprise instructions to transmit a signal to the server indicating that the map is valid when the map includes the plausible path consistent with the trajectory.
13. The system of claim 8 , wherein the instructions further comprise instructions to determine a current location of the vehicle.
14. The system of claim 13 , wherein the instructions further comprise instructions to assess validity of the map also based on whether the map includes include a plausible location consistent with the current location of the vehicle.
15. A non-transitory computer-readable medium storing instructions, which when executed by a processor, cause the processor to:
determine by a vehicle a plurality of locations of the vehicle along a path traveled by vehicle, using environmental image data captured by a sensor of the vehicle;
determine a trajectory of the vehicle based solely on the determined plurality of locations;
compare the trajectory to the map;
assess validity of the map based on the comparison by determining whether the map includes a plausible path consistent with the trajectory;
maneuver the vehicle based on the assessed validity of the map; and
transmit a signal to a server indicating that the map is invalid when the map does not include the plausible path consistent with the trajectory.
16. The non-transitory computer-readable medium of claim 15 , wherein the map includes an area prohibiting entry for travel.
17. The non-transitory computer-readable medium of claim 15 , wherein the instructions cause the processor to transmit the signal to the server via a network indicating a result of the assessing.
18. The non-transitory computer-readable medium of claim 15 , wherein the sensor comprises data from at least one of a laser sensor, a global positioning unit, or a camera.
19. The non-transitory computer-readable medium of claim 15 , wherein the instructions further comprise instructions to determine a current location of the vehicle.
20. The non-transitory computer-readable medium of claim 19 , wherein the instructions further comprise instructions to assess validity of the map also based on whether the map includes include a plausible location consistent with the current location of the vehicle.