System and method for generating storage lane markings for a map
A system is disclosed for generating a storage lane marking for a map database. The system, for example, generates a candidate storage lane marking for a first topology based on: the candidate storage lane marking being (i) to the left of a leftmost through-traffic lane marking of the first topology or to the right of a rightmost through-traffic lane marking of the first topology, and (ii) on either start or end of the first topology. The system further makes a determination of whether the candidate storage lane marking is valid based on one or more of following: (i) whether one or more vehicle path locations are located within a polygon defined by (a) the candidate storage lane marking and (b) a corresponding edge of the first topology, or (ii) whether the candidate storage lane marking is located within another topology different from the first topology.
1. A system comprising:
a memory configured to store computer-executable instructions; and
at least one processor configured to execute the computer-executable instructions to:
generate a candidate storage lane marking for a first topology based on: the candidate storage lane marking being (i) to the left of a leftmost through-traffic lane marking of the first topology or to the right of a rightmost through-traffic lane marking of the first topology, and (ii) on either start or end of the first topology;
make a determination that the candidate storage lane marking is valid based on one or more of following: (i) whether one or more vehicle path locations are located within a polygon defined by (a) the candidate storage lane marking and (b) a corresponding edge of the first topology, or (ii) whether the candidate storage lane marking is located within another topology different from the first topology or within a first threshold distance from another topology, wherein the corresponding edge of the first topology is the leftmost through-traffic lane marking if the candidate storage lane marking is generated to the left of the leftmost through-traffic lane marking, or the rightmost through-traffic lane marking if the candidate storage lane marking is generated to the right of the rightmost through-traffic lane marking;
estimate a geometry of the validated storage lane marking based on (i) a trajectory formed by one or more vehicle path locations, and (ii) a subset of lane marking detections associated with the first topology, wherein the subset of lane marking detections comprises lane markings within a second threshold distance of the trajectory; and
update a map database to represent a storage lane for navigating vehicles either towards or away from the first topology as a function of the validated and geometry-estimated storage lane marking.
2. The system of claim 1 , wherein generating the candidate storage lane marking is further based on a lane width associated with the first topology.
3. The system of claim 1 , wherein making the determination comprises:
determining that the candidate storage lane marking is valid if one or more vehicle path locations are located within the polygon.
4. The system of claim 1 , wherein making the determination further comprises:
determining that the candidate storage lane marking is valid if the candidate storage lane marking is not located within another topology.
5. The system of claim 1 , wherein the candidate storage lane marking is associated with a storage lane, such that the storage lane stores at least one of a left turning traffic or a right turning traffic associated with the first topology, when the at least one of the left turning traffic or the right turning traffic is in a waiting state.
6. The system of claim 1 , wherein the at least one processor is further configured to:
estimate a geometry of a storage lane based on a trajectory formed by the one or more vehicle path locations and a subset of the lane marking data associated with the first topology, such that the subset of the lane marking data comprises lane marking detections within a first threshold distance of the trajectory.
7. A method comprising:
generating a candidate storage lane marking for a first topology based on: the candidate storage lane marking being (i) to the left of a leftmost through-traffic lane marking of the first topology or to the right of a rightmost through-traffic lane marking of the first topology, and (ii) on either start or end of the first topology;
making a determination that the candidate storage lane marking is valid based on one or more of following: (i) whether one or more vehicle path locations are located within a polygon defined by (a) the candidate storage lane marking and (b) a corresponding edge of the first topology, or (ii) whether the candidate storage lane marking is located within another topology different from the first topology or within a first threshold distance from another topology, wherein the corresponding edge of the first topology is the leftmost through-traffic lane marking if the candidate storage lane marking is generated to the left of the leftmost through-traffic lane marking, or the rightmost through-traffic lane marking if the candidate storage lane marking is generated to the right of the rightmost through-traffic lane marking; and
estimating a geometry of the validated storage lane marking based on (i) a trajectory formed by one or more vehicle path locations, and (ii) a subset of lane marking detections associated with the first topology, wherein the subset of lane marking detections comprises lane markings within a second threshold distance of the trajectory; and
updating a map database to represent a storage lane for navigating vehicles either towards or away from the first topology as a function of the validated and geometry-estimated storage lane marking.
8. The method of claim 7 , wherein generating the candidate storage lane marking is further based on a lane width associated with the first topology.
9. The method of claim 7 , wherein making the determination comprises at least one of:
determining that the candidate storage lane marking is valid if one or more vehicle path locations are located within the polygon; and
determining that the candidate storage lane marking is valid if the candidate storage lane marking is not located within another topology.
10. The method of claim 7 , wherein the candidate storage lane marking is associated with a storage lane, such that the storage lane stores at least one of a left turning traffic or a right turning traffic associated with the first topology, when the at least one of the left turning traffic or the right turning traffic is in a waiting state.
11. The method of claim 7 , further comprising:
estimating a geometry of a storage lane based on a trajectory formed by the one or more vehicle path locations and a subset of the lane marking data associated with the first topology, such that the subset of the lane marking data comprises lane marking detections within a first threshold distance of the trajectory.
12. A computer program product comprising a non-transitory computer readable medium having stored thereon computer executable instructions which when executed by at least one processor, cause the processor to carry out operations comprising:
generating a candidate storage lane marking for a first topology based on: the candidate storage lane marking being (i) to the left of a leftmost through-traffic lane marking of the first topology or to the right of a rightmost through-traffic lane marking of the first topology, and (ii) on either start or end of the first topology;
making a determination that the candidate storage lane marking is valid based on one or more of following: (i) whether one or more vehicle path locations are located within a polygon defined by (a) the candidate storage lane marking and (b) a corresponding edge of the first topology or within a first threshold distance from another topology, or (ii) whether the candidate storage lane marking is located within another topology different from the first topology, wherein the corresponding edge of the first topology is the leftmost through-traffic lane marking if the candidate storage lane marking is generated to the left of the leftmost through-traffic lane marking, or the rightmost through-traffic lane marking if the candidate storage lane marking is generated to the right of the rightmost through-traffic lane marking;
estimating a geometry of the validated storage lane marking based on (i) a trajectory formed by one or more vehicle path locations, and (ii) a subset of lane marking detections associated with the first topology, wherein the subset of lane marking detections comprises lane markings within a second threshold distance of the trajectory; and
updating a map database to represent a storage lane for navigating vehicles either towards or away from the first topology as a function of the validated and geometry-estimated storage lane marking.
13. The computer program product of claim 12 , wherein making the determination comprises at least one of:
determining that the candidate storage lane marking is valid if one or more vehicle path locations are located within the polygon; or
determining that the candidate storage lane marking is valid if the candidate storage lane marking is not located within another topology.
14. The computer program product of claim 12 , wherein the operations further comprise:
estimating a geometry of a storage lane based on a trajectory formed by the one or more vehicle path locations and a subset of the lane marking data associated with the first topology, such that the subset of the lane marking data comprises lane marking detections within a first threshold distance of the trajectory.