Sparse map for autonomous vehicle navigation

Systems and methods are provided for constructing, using, and updating sparse maps for autonomous vehicle navigation. The system includes a memory including a predetermined road model representing at least one road segment, the predetermined road model including at least a spline representation of a target path of a plurality of autonomous vehicles along the at least one road segment; and at least one processor programmed to selectively receive road environment information from the plurality of autonomous vehicles based on navigation of the plurality of autonomous vehicles through their respective road environments, the method is implemented by causing some of a plurality of autonomous vehicles traveling within a specific geographic area to transmit road environment information to a system and preventing other of the plurality of autonomous vehicles traveling within the specific geographic area from transmitting the road environment information to the system; determining whether one or more updates to a prede