Using lane tracker data to improve lane-level digital maps created with probe vehicle data

An improvement to an existing technology for making lane-level digital maps from probe vehicle data is proposed and demonstrated. Vehicle location data obtained from GPS receivers is combined with lane-offset data from vision-based lane tracker system to remove driving variation within a lane and from lane changes. Significant improvement in the ability to separate traces into different lanes is achieved. This technique generates maps of the physical lane boundary markings, which is not possible with the old map-making technique.