Patent ID: 11873006
Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 9:
10. A method for virtual lane estimation comprising:
reading a road map that corresponds to a portion of a road ahead of a vehicle;
initializing a recursive self-organizing map as a plurality of points arranged as a two-dimensional grid aligned with the road map using a computer of the vehicle;
observing a plurality of trajectories of a plurality of neighboring vehicles that traverse the portion of the road ahead of the vehicle using a sensor of the vehicle;
training the plurality of points in the recursive self-organizing map in response to the plurality of trajectories of the plurality of neighboring vehicles that traverse the portion of the road;
generating a directed graph that contains one or more virtual lanes through the road map in response to the points trained to the plurality of trajectories; and
controlling a power plant to navigate the vehicle through the portion of the road in response to the one or more virtual lanes in the directed graph, wherein
the recursive self-organizing map is a modified self-organizing map that uses feedback to represent time,
the directed graph has a plurality of directed edges captured in a sequential order in which the plurality of points were observed, and
a recurrent layer of the recursive self-organizing map contains a plurality of weights of the plurality of points at an end of the training.