A computer, including a processor and a memory, the memory including instructions to be executed by the processor to generate a first map, based on vehicle sensor data, of a free space on a roadway in which a first vehicle can operate without contacting roadway edges and non-stationary objects on the roadway, the first map including roadway lane markings in an environment around the first vehicle, wherein the non-stationary objects include one or more second vehicles and generate a second map of free space in the environment around the first vehicle by determining B-splines corresponding to first roadway lanes based on the roadway lane markings and the roadway edges included in the first map. The instructions include further instructions to determine second roadway lanes based on determining locations of the non-stationary objects, determine combined roadway lanes based on the first roadway lanes and the second roadway lanes and operate the first vehicle based on the combined roadway lanes.


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    Title :

    Vehicle lane mapping


    Contributors:

    Publication date :

    2021-08-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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