| CPC B60W 60/0025 (2020.02) [B60W 60/0027 (2020.02); G01C 21/32 (2013.01); G01S 17/86 (2020.01); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0223 (2013.01); G05D 1/0274 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2552/05 (2020.02); B60W 2552/53 (2020.02); B60W 2555/60 (2020.02)] | 20 Claims |
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1. One or more non-transitory computer-readable media storing instructions, that when executed by one or more processors, cause the one or more processors to perform operations comprising:
receiving sensor data;
generating, based at least in part on the sensor data, an estimated map of an environment comprising policy information for driving within the environment;
comparing first information associated with a stored map of the environment with second information associated with the estimated map to determine whether the stored map is consistent with the estimated map, the first information is a trajectory, determined based at least in part on the stored map, along which an object is to follow and the second information is a label associated with a portion of the estimated map to which the trajectory corresponds; and
controlling the object based at least in part on results of the comparing.
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