Patent Document ID: 9836058
Application ID: 15409251
Patent Status: 1

Claim One:
1. A self-driving road vehicle, comprising: a body; a locomotion system coupled to the body for accelerating, propelling and decelerating the vehicle along a roadway; a steering system coupled to the body for steering the vehicle; a sensor array carried by the body for sensing driving data, the sensor array having a sensor range; a control system carried by the body, wherein: the control system is coupled to the sensor array for receiving sensed driving data from the sensor array; the control system is coupled to the locomotion system for controlling the locomotion system; and the control system is coupled to the steering system for controlling the steering system; a data storage module coupled to and accessible by the control system, the data storage module storing at least one attributed roadway trajectory; each attributed roadway trajectory comprising: at least one ordered series of attributed roadway trajectory points, wherein for each ordered series of attributed roadway trajectory points: each attributed roadway trajectory point has a position in a terrestrial coordinate frame; wherein the control system is configured to: obtain, for at least one of the attributed roadway trajectory points, at least one respective attribute value representing sensor-independent roadway data about a characteristic of a real-world roadway segment at a position on the real-world roadway segment that is spatially associated with the attributed roadway trajectory point; and use the at least one attribute value to adjust control of at least one of the locomotion system and the steering system.