Intelligent vehicle navigation systems, methods, and control logic for multi-lane separation and trajectory extraction of roadway segments

A method for controlling operation of a motor vehicle, the method comprising:

• determining, via a resident vehicle controller of the motor vehicle, a vehicle location of the motor vehicle;
• conducting a geospatial query to identify a designated road segment corresponding to the vehicle location;
• receiving, from a memory-stored map database, road-level data associated with the designated road segment;
• determining, from the road-level data, a turning angle and a centerline for the designated road segment;
• receiving connected vehicle data indicative of vehicle locations and dynamics for multiple motor vehicles while travelling on the designated road segment;
• determining, from the connected vehicle data, trajectory data indicative of respective start points, end points, and centerline offset distances for the multiple motor vehicles;
• identifying, based on the turning angle and the centerline, a number of driving lanes for the designated road segment, including processing the trajectory data with a clustering algorithm that applies a k-means clustering analysis that identifies the number of driving lanes as an estimated number of clusters, each of the clusters composed of a subset of the start points and/or end points with the corresponding centerline offset distances thereof proximate a common centroid;
• extracting a respective virtual trajectory for each of the driving lanes;
• and
• transmitting, via the resident vehicle controller, a command signal to a resident vehicle subsystem to execute a control operation based on at least one of the extracted virtual trajectories corresponding to at least one of the driving lanes of the designated road segment, the resident vehicle subsystem including an Advanced Driver Assistance System (ADAS) intersection assistance module, and the control operation including an automated steering maneuver and/or an automated braking maneuver adapted by the ADAS intersection assistance module based on the at least one of the extracted virtual trajectories.