System and method for improving the linear feature at intersection location

A method comprising:

• obtaining, in real time, reference feature data for a reference lane marking, the reference lane marking being associated with an intersection location;
• generating intersection line feature data for an intersection line lane marking based on the reference feature data up to a first end location, the intersection line lane marking having the intersection location, wherein the reference lane marking is within a predefined proximity from the intersection line lane marking, and wherein the first end location is within a first distance threshold from the intersection location;
• determining a first cross-track distance between the first end location and a reference matched location on the reference lane marking, wherein the reference matched location is identified by extending a perpendicular line from the first end location to the reference lane marking;
• determining orientation information for the first end location and the reference matched location;
• generating intersection feature data for the intersection line lane marking based on the reference feature data, the intersection line feature data, wherein the intersection feature data is associated with the intersection location, and wherein the intersection feature data is generated from the first end location tile the intersection location;
• and
• determining intersection location data for the intersection location based on the reference feature data, the intersection line feature data and the intersection feature data;
• and
• providing, in real time, the intersection location data to a vehicle control system to navigate an autonomous vehicle through the intersection location.

A computer programmable product comprising a non-transitory computer readable medium having stored thereon computer executable instructions, which when executed by one or more processors, cause the one or more processors to carry out operations comprising:

• obtaining, in real time, reference feature data for a reference lane marking, the reference lane marking being associated with an intersection location;
• generating intersection line feature data for an intersection line lane marking based on the reference feature data up to a first end location, the intersection line lane marking having the intersection location, wherein the reference lane marking is within a predefined proximity from the intersection line lane marking, and wherein the first end location is within a first distance threshold from the intersection location;
• determining a first cross-track distance between the first end location and a reference matched location on the reference lane marking, wherein the reference matched location is identified by extending a perpendicular line from the first end location to the reference lane marking;
• determining orientation information for the first end location and the reference matched location;
• generating intersection feature data for the intersection line lane marking based on the reference feature data, the intersection line feature data, the first cross-track distance, and the orientation information, wherein the intersection feature data is associated with the intersection location, and wherein the intersection feature data is generated from the first end location tile the intersection location;
• and
• determining intersection location data for the intersection location based on the reference feature data, the intersection line feature data and the intersection feature data;
• and
• providing, in real time, the intersection location data to a vehicle control system to navigate an autonomous vehicle through the intersection location.