A virtual lane estimation system includes a memory device, a sensor and a computer. The memory device is configured to store a road map that corresponds to a portion of a road ahead of a vehicle. The sensor is configured to observe a plurality of trajectories of a plurality of neighboring vehicles that traverse the portion of the road. The computer is configured to initialize a recursive self-organizing map as a plurality of points arranged as a two-dimensional grid aligned with the road map, train the points in the recursive self-organizing map in response to the trajectories, generate a directed graph that contains one or more virtual lanes through the road map in response to the points trained to the trajectories, and generate a control signal that controls navigation of the vehicle through the portion of the road in response to the virtual lanes in the directed graph.
VIRTUAL LANE ESTIMATION USING A RECURSIVE SELF-ORGANIZING MAP
2022-03-24
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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