Method for generating accurate lane level maps

摘要

A method for generating accurate lane level maps based on coarse map information and image sensor data captured during the pass of a sensor carrying vehicle along a road. The method generates accurate lane estimates including any of the center of each lane, the number of lanes, and the presence of any bicycle paths, and entrance and exit ramps, merging of two lanes into one lane, or the expansion of one lane into two lanes, using a computer-implemented method where the coarse map data and the image sensor data are subjected to dual reversible jump-Markov chain Monte Carlo filtering.

主权项

1. A method for determining lane characteristics of a road comprising:
obtaining image sensor generated road lane marker data representing lane markers on a road; accessing coarse road map data representing the road; determining, using a computer, road segment node locations from the coarse road map data; tying, using a computer, the road lane marker data to the road segment node locations; and applying dual reversible jump-Markov chain Monte Carlo filtering to the tied road lane marker data and road segment node locations and to lane characteristics estimates for the road at the segment node locations to generate a road lane map including all lanes present at any road segment node location.