Lane line map construction using probability density bitmaps

A tangible, non-transitory, machine-readable medium, comprising machine-readable instructions, that when executed by one or more processors, cause the processors to:

• receive sensor data from a plurality of sensors of a plurality of vehicles, wherein the sensor data includes vehicle GPS data received from a plurality of GPS transceivers from the plurality of vehicles, and the sensor data includes sensed lane line data of a roadway received from a plurality of cameras of the plurality of vehicles;
• create a plurality of multi-layer bitmaps for each of the plurality of vehicles using the sensor data;
• fuse the plurality of the multi-layer bitmaps of each of the plurality of vehicles to create a fused multi-layer bitmap;
• create a plurality of multi-layer probability density bitmaps using the fused multi-layer bitmap;
• extract lane line data from the plurality of multi-layer probability density bitmaps to obtain extracted lane line data;
• and
• create a high-definition (HD) map of the roadway using the multi-layer probability density bitmaps and the extracted lane line data from the plurality of multi-layer probability density bitmaps, wherein the HD map of the roadway includes a plurality of lane lines of each of the plurality of lanes of the roadway, thereby improving vehicle navigational technology;
• and
• showing the HD map on a display of a host vehicle.