Automated mapping for autonomous vehicle navigation

1 . A system comprising:

one or more processors; and

one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:

receiving sensor data associated with a vehicle traversing an environment along a path;

one or more of receiving or determining, based on the sensor data, a lane boundary associated with the path;

determining, based at least in part on a set of drivable areas detected while traversing the path, a polygon;

determining a representative line associated with the polygon;

determining a set of points along the representative line;

determining a set of intersections of a set of lines with the lane boundary, a line of the set of lines originating at a first point of the set of points and extending laterally from the representative line;

determining that the line that intersects with the representative line at a second point and the lane boundary at a third point;

receiving an indication of a user input representing that the line intersects with the lane boundary at a fourth point;

determining, based on the set of intersections and the indication, a representation of the lane boundary;

associating the representation of the lane boundary with a map; and

providing the map to a second system, wherein the second system is configured to generate a trajectory based on the map and control a movement of the vehicle or a second vehicle based on the trajectory.

2 . The system of claim 1 , wherein determining the representative line comprises:

determining a medial axis associated with the polygon.

3 . The system of claim 1 , wherein determining the representation of the lane boundary is further based at least in part on:

a curvature of the lane boundary.

4 . The system of claim 1 , the operations further comprising:

removing a portion of the representative line associated with a junction.

5 . The system of claim 1 , wherein:

determining the representation of the lane boundary comprises determining, based at least in part on a cluster that is determined based at least in part on the set of intersections, a polynomial curve having a minimal distance to the cluster.

6 . One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

receiving first data associated with a drivable surface associated with a road;

determining, based on the first data, a reference line associated with the drivable surface, wherein the reference line traverses along the road;

determining a line that intersects with the reference line at a first point and a lane boundary at a second point;

receiving an indication of a user input representing that the line intersects with the lane boundary at a third point;

determining, based on the reference line and the indication, a first representation of the lane boundary;

associating the first representation with a map; and

providing the map to a system configured to generate a trajectory based on the map and control a movement of a vehicle based on the trajectory.

7 . The one or more non-transitory computer-readable media of claim 6 , wherein determining the first representation comprises:

determining a second line that intersects with the reference line at a fourth point;

determining that the second line intersects with the lane boundary at a fifth point; and

determining the first representation based at least in part on the second point and the fifth point.

8 . The one or more non-transitory computer-readable media of claim 6 , wherein determining the first representation comprises:

determining that the line intersects with a second lane boundary at a fourth point;

determining, based at least in part on the first point and the fourth point, a distance between the lane boundary and the second lane boundary; and

determining that the distance falls below a threshold.

9 . The one or more non-transitory computer-readable media of claim 6 , wherein determining the first representation is based on a second line that is perpendicular to the reference line.

10 . The one or more non-transitory computer-readable media of claim 6 , wherein determining the reference line comprises:

determining, based on the first data, a set of features;

determining, based at least in part on the set of features, a polygon that comprises the drivable surface;

determining a medial axis associated with the polygon; and

determining the reference line based on the medial axis.

11 . The one or more non-transitory computer-readable media of claim 10 , the operations further comprising removing a portion of the reference line that is associated with a junction.

12 . The one or more non-transitory computer-readable media of claim 6 , wherein determining the first representation comprises:

determining that a second line intersects with the lane boundary at a fourth point; and

determining an optimal polynomial curve based on the second point and the fourth point.

13 . The one or more non-transitory computer-readable media of claim 6 , wherein determining the first representation is based on a curvature associated with the lane boundary.

14 . A method comprising:

receiving first data associated with a drivable surface associated with a road;

determining, based on the first data, a reference line associated with the drivable surface, wherein the reference line traverses along the road;

determining a line that intersects with the reference line at a first point and a lane boundary at a second point;

receiving an indication of a user input representing that the line intersects with the lane boundary at a third point;

determining, based on the reference line and the indication, a first representation of the lane boundary;

associating the first representation with a map; and

providing the map to a system configured to generate a trajectory based on the map and control a movement of a vehicle based on the trajectory.

15 . The method of claim 14 , wherein determining the first representation comprises:

determining a second line that intersects with the reference line at a fourth point;

determining that the second line intersects with the lane boundary at a fifth point; and

determining the first representation based at least in part on the second point and the fifth point.

16 . The method of claim 14 , wherein determining the first representation comprises:

determining that the line intersects with a second lane boundary at a fourth point;

determining, based at least in part on the first point and the fourth point, a distance between the lane boundary and the second lane boundary; and

determining that the distance falls below a threshold.

17 . The method of claim 14 , further comprising:

determining a second representation associated with the lane boundary based at least in part on the reference line; and

determining the first representation based on the indication and the second representation.

18 . The method of claim 14 , wherein determining the first representation is based on a second line that is perpendicular to the reference line.

19 . The method of claim 14 , wherein determining the reference line comprises:

determining, based on the first data, a set of features;

determining, based at least in part on the set of features, a polygon that comprises the drivable surface;

determining a medial axis associated with the polygon; and

determining the reference line based on the medial axis.