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

Claim 0:
1. A virtual lane estimation system comprising:
a memory configured to store a road map that corresponds to a portion of a road ahead of a 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; and
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, 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.