Road-perception system configured to estimate a belief and plausibility of lanes in a road model

Abstract

This document describes techniques and systems for a road-perception system to estimate a belief and plausibility of lanes in a road model. The road-perception system models lanes of a road using basis bands to represent lane sections. The basis bands comprise points representing a polyline with a width at each point. The use of basis bands results in lower-computational requirements and a more stable road model than grid-based representations of a driving environment. The road-perception system also determines a belief mass associated with the lane sections. The road-perception system then computes, using the belief masses, a belief parameter and a plausibility parameter associated with proposed lanes of the road model. In this way, the described techniques and systems can provide an accurate and reliable road model and quantify uncertainty therein.