Navigation and mapping based on detected arrow orientation

A vehicle comprising:

• a memory interface circuitry;
• and at least one processing circuitry programmed to:
• receive via at least one data interface one or more images captured by one or more cameras representative of an environment of the vehicle;
• identify, based on analysis of the one or more images, at least one direction of at least one directional arrow on a road surface in the one or more images, wherein the at least one directional arrow is identified within a corresponding lane of the road surface, and wherein the at least one direction is identified based on at least one tip point of the at least one directional arrow represented in the one or more images;
• determine a direction of travel for the vehicle in the corresponding lane based on the at least one direction of the at least one directional arrow on the road surface;
• determine at least one navigational action for the vehicle based on the determined direction of travel for the vehicle and a planned trajectory for the vehicle that uses the corresponding lane;
• and cause one or more actuator systems of the vehicle to implement the determined at least one navigational action for the vehicle, wherein to identify, based on analysis of the one or more images, the at least one direction of the at least one directional arrow on the road surface in the one or more images includes to identify directions of respective directional arrows located in the corresponding lane in which the vehicle travels and located in an adjacent lane.

A non-transitory computer-readable storage media comprising program instructions, when executed by at least one processing circuitry, cause the processing circuitry to perform operations comprising:

• receiving via a data interface one or more images captured by one or more cameras representative of an environment of a vehicle;
• identifying, based on analysis of the one or more images, at least one direction of at least one directional arrow on a road surface in the one or more images, wherein the at least one directional arrow is identified within a corresponding lane of the road surface in which the vehicle travels, and wherein the at least one direction is identified based on at least one tip point of the at least one directional arrow represented in the one or more images;
• determining a direction of travel for the vehicle in the corresponding lane based on the at least one direction of the at least one directional arrow on the road surface;
• determining at least one navigational action for the vehicle based on the determined direction of travel for the vehicle and a planned trajectory for the vehicle that uses the corresponding lane;
• and causing one or more actuator systems of the vehicle to implement the determined at least one navigational action for the vehicle, wherein identifying, based on analysis of the one or more images, the at least one direction of the at least one directional arrow on the road surface in the one or more images includes identifying directions of respective directional arrows located in the corresponding lane in which the vehicle travels and located in an adjacent lane.

A system for vehicle navigation, the system comprising:

• a memory interface circuitry means;
• at least one processing circuitry means for:
• receiving via a data interface one or more images captured by one or more cameras representative of an environment of a vehicle;
• identifying, based on analysis of the one or more images, at least one direction of at least one directional arrow on a road surface in the one or more images, wherein the at least one directional arrow is identified within a corresponding lane of the road surface in which the vehicle travels, and wherein the at least one direction is identified based on at least one tip point of the at least one directional arrow represented in the one or more images;
• determining a direction of travel for the vehicle in the corresponding lane based on the at least one direction of the at least one directional arrow on the road surface;
• determining at least one navigational action for the vehicle based on the determined direction of travel for the vehicle and a planned trajectory for the vehicle that uses the corresponding lane;
• and causing one or more actuator systems of the vehicle to implement the determined at least one navigational action for the vehicle, wherein identifying, based on analysis of the one or more images, the at least one direction of the at least one directional arrow on the road surface in the one or more images includes identifying directions of respective directional arrows located in the corresponding lane in which the vehicle travels and located in an adjacent lane.