MAPLETS FOR MAINTAINING AND UPDATING A SELF-HEALING HIGH DEFINITION MAP

An apparatus onboard a vehicle and in communication with sensors onboard the vehicle is configured to receive a maplet request identifying a request region; determine that the apparatus has entered the request region; process and fuse sensor data captured by two or more sensors of the sensors to generate a multi-sensor data stream comprising a plurality of observations corresponding to a portion of a road network; generate a maplet based on the multi-sensor data stream and the maplet request, wherein generating the maplet comprises using a predetermined data model to encode road data, from the multi-sensor data stream, corresponding to at least one environment element of the road network; and provide the maplet such that a network apparatus receives the maplet. The network apparatus is configured to (a) validate or (b) update map data of a digital map representing the road network based at least in part on the maplet.