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

Claim 19:
20. A vehicle comprising:
a memory configured to store a road map that corresponds to a portion of a road ahead of the vehicle;
a sensor configured to observe a plurality of trajectories of a plurality of neighboring vehicles that traverse the portion of the road ahead of the vehicle;
a computer configured to initialize a recursive self-organizing map as a plurality of points arranged as a two-dimensional grid aligned with the road map, train 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, generate 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 generate a control signal that controls navigation of the vehicle through the portion of the road in response to the one or more virtual lanes in the directed graph; and
a power plant configured to propel the vehicle in response to the control signal, wherein
the recursive self-organizing map is a modified self-organizing map that uses feedback to represent time, and
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.