Abstract: Sensor data is recorded during testing of a control unit of an autonomous car in an autonomous driving mode. In response to being triggered by a disengagement event, recorded sensor data from an analysis time window prior to the disengagement event is logged. The logged sensor data is processed in a simulator using the control unit to control a virtual autonomous car to identify the inadequately operating component of the control unit. The component may be modified and retested until the disengagement event is avoided in the simulator. The control unit with the modified component may then be used to record new sensor data during testing of the control unit in the autonomous driving mode, and the simulation repeated on the new data.

Abstract: An electronic route navigation method is used in navigating an autonomous vehicle in a road network. In an implementation of the method a map is stored on at least one computer, and is sectioned into quads by a processor. The smallest size quads are grouped as base level quads. Extended area quads are defined to contain the area of a plurality of base level quads. Thereafter, a route along a road is calculated from a start point to a destination point. Further extended area quads on the map that do not contain the start point or the destination point are used for cross routing. In said cross routing only the road routes crossing the extended area quad leading from the start point to destination point are calculated.