Telemetry-based lane line estimation and map inference method and system

A system for estimating lane lines, comprising:

• a controller including a processor and a tangible, non-transitory, machine-readable medium in communication with the processor, wherein the controller is programmed to:
• receive telemetry data, wherein the telemetry data includes vehicle positional data, the vehicle positional data includes GPS data, and the lane data includes information about lane lines of a roadway within a predetermined region;
• receive map data, wherein the map data includes road-network topology data, and the road-network topology data includes a map with information about the roadway within the predetermined region;
• match the telemetry data with the map data to generate map-matched telemetry data;
• determine, using a Gaussian Mixture Model (GMM), a first set of lane line points derived from the map-matched telemetry data, the first set comprising probabilistic mixture-model lane line points;
• determine, using a lane-point detection (LPD) model, a second set of lane line points independently derived from the map-matched telemetry data, the second set comprising spatial gradient-based lane-point detections;
• and
• determine, using a lane-point clustering (LPC) model, a plurality of lane lines by clustering the first set of lane line points and by clustering the second set of lane line points and jointly clustering the first set and the second set of clustered lane line points to determine the plurality of lane lines.