Method, system, and computer program product for iterative warping of maps for autonomous vehicles and simulators

A system for generating an updated map for use with an autonomous vehicle driving operation or a simulation thereof, comprising:

• a map database configured to store first map data associated with a first map of a geographic location comprising a roadway, the first map data comprising at least one first lane segment representing the roadway;
• a map data source system configured to obtain second map data associated with a second map of the geographic location, the second map data comprising at least one second lane segment representing the roadway;
• and
• a mapping system configured to:
• obtain, from the map database, the first map data;
• obtain, from the map data source system, the second map data;
• determine a plurality of non-overlapping areas based on the at least one first lane segment and the at least one second lane segment;
• select a first non-overlapping area of the plurality of non-overlapping areas;
• select a first warp point within the first non-overlapping area;
• and
• warp the at least one first lane segment around the first warp point to increase a total overlapping area based on the at least one second lane segment and the at least one first lane segment after warping to generate updated map data associated with an updated map of the geographic location comprising the roadway, wherein warping the at least one first lane segment comprises:
• adjusting the first warp point and points of the at least one first lane segment around the first warp point using inverse distance weighted interpolation;
• determining the total overlapping area based on the at least one second lane segment and the at least one first lane segment after the adjusting;
• and
• iteratively repeating the adjusting and the determining of the total overlapping area until the total overlapping area reaches a local maximum.

A computer program product for generating an updated map for use with an autonomous vehicle driving operation or a simulation thereof, the computer program product comprising at least one non-transitory computer-readable medium comprising one or more instructions that, when executed by at least one processor, cause the at least one processor to:

• obtain first map data associated with a first map of a geographic location comprising a roadway, the first map data comprising at least one first lane segment representing the roadway;
• obtain second map data associated with a second map of the geographic location, the second map data comprising at least one second lane segment representing the roadway;
• determine a plurality of non-overlapping areas based on the at least one first lane segment and the at least one second lane segment;
• select a first non-overlapping area of the plurality of non-overlapping areas;
• select a first warp point within the first non-overlapping area;
• and
• warp the at least one first lane segment around the first warp point to increase a total overlapping area based on the at least one second lane segment and the at least one first lane segment after warping, wherein warping the at least one first lane segment comprises:
• adjusting the first warp point and points of the at least one first lane segment around the first warp point using inverse distance weighted interpolation;
• determining the total overlapping area based on the at least one second lane segment and the at least one first lane segment after the adjusting;
• and
• iteratively repeating the adjusting and the determining of the total overlapping area until the total overlapping area reaches a local maximum.