Method and system of ambiguity resolution and bias reduction for perception and map association

A system, comprising:

• memory;
• and
• processor circuitry forming at least one processor communicatively coupled to the memory and being arranged to operate by:
• receiving map data comprising a plurality of map lane edges of a roadway segment,
• receiving perception data comprising a plurality of perception lane edges of the roadway segment,
• forming at least one alignment having at least one of the map lane edges and at least one of the perception lane edges;
• determining a probability score of each of the alignments that indicates whether at least one of the map lane edges of the alignment is to be the same lane line as one of the perception lane edges of the alignment,
• resolving an ambiguity when no probability score of the at least one alignment satisfies at least one alignment criterion, and comprising determining a resolved alignment between the at least one perception lane edge and the at least one map lane edge comprising applying multiple ambiguity stages, wherein each ambiguity stage has a different ambiguity test, and wherein at least two of the ambiguity stages are arranged to determine whether to increment a non-ambiguity count depending on a magnitude of likelihoods related to the at least one alignment, and
• determining the resolved alignment exists when the alignment between the at least one perception lane edge and the at least one map lane edge has a highest non-ambiguity count.

A vehicle, comprising:

• memory;
• and
• processor circuitry forming at least one processor communicatively coupled to the memory and being arranged to operate by:
• receiving map data comprising a plurality of map lane edges of a roadway segment,
• receiving perception data comprising a plurality of perception lane edges of the roadway segment,
• forming at least one alignment having at least one of the map lane edges and at least one of the perception lane edges;
• determining a probability score of each of the alignments that indicates whether at least one of the map lane edges of the alignment is to be the same lane line as one of the perception lane edges of the alignment,
• resolving an ambiguity when no probability score of the at least one alignment satisfies at least one alignment criterion, and comprising determining a resolved alignment between the at least one perception lane edge and the at least one map lane edge comprising applying multiple ambiguity stages, wherein each ambiguity stage has a different ambiguity test, and wherein at least two of the ambiguity stages are arranged to determine whether to increment a non-ambiguity count depending on a magnitude of likelihoods related to the at least one alignment, and
• determining the resolved alignment exists when the alignment between the at least one perception lane edge and the at least one map lane edge has a highest non-ambiguity count.