US 9,810,540 B1
Map reports from vehicles in the field
Andrew Hughes Chatham, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jul. 30, 2015, as Appl. No. 14/813,822.
Application 14/813,822 is a division of application No. 13/465,578, filed on May 7, 2012, granted, now 9,123,152.
Int. Cl. G01C 21/34 (2006.01); G01S 19/13 (2010.01); H04L 29/06 (2006.01); G06F 17/30 (2006.01)
CPC G01C 21/34 (2013.01) [G01S 19/13 (2013.01); G06F 17/30061 (2013.01); H04L 67/42 (2013.01)] 20 Claims
OG exemplary drawing
 
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.