Spatiotemporal lane maneuver delay for road navigation

A computer-readable, non-transitory medium storing a program that causes a computer to execute a method comprising:

• determining a plurality of time delays for a plurality of lane maneuvers by a plurality of vehicles from a first lane to a second lane at a location, wherein each of the plurality of time delays is calculated from an initial detection of a turn signal of a vehicle of the plurality of vehicles to a subsequent detection that the turn signal is off for a maneuver from the first lane to the second lane, wherein the location comprises a strand of road segments;
• generating a lane maneuver matrix for the road segment from the plurality of time delays;
• and
• generating at least one lane level routing command as a function of the lane maneuver matrix.

A navigation system for collecting lane maneuver transition data, the navigation system comprising:

• a turn signal sensor configured to determine when a turn signal is on or off;
• a positioning sensor configured to identify a road segment and a lane position for a vehicle;
• a processor configured to generate a first probe report for a vehicle comprising a first timestamp, a first road segment identifier, a first identifier for a first lane, and a first turn signal status indicating that a turn signal of the vehicle is active;
• the processor further configured to generate a second probe report for the vehicle comprising a second timestamp, a second road segment identifier, a second identifier for a second lane, and a second turn signal status indicating that the turn signal of the vehicle is off;
• and
• a transceiver configured to transmit the first probe report and the second probe report to a mapping system.