Data-based driveline estimation and mapping

Abstract

A data-based driveline map is determined using road-level map data and driveline data for road users. The map data includes way data comprising one or more ways, a way includes a series of nodes, and the driveline data includes drivelines, where a driveline is a series of poses representing a road user. A first section of the way data is identified as an intersection, and second sections are matched with the driveline data to generate multiple way bars, where a way bar includes one or more poses and one node. A way bar is categorized as either constant or changing based on lanes counted therewithin. Consecutive way bars are grouped into way bar sections based on the categorization and the lane count, and the map is generated using the way bar sections and the first section. A vehicle is operated using the map as input to a control system.