Method for determining and providing lane routes

A method comprising:

• receiving, by a central computing unit, a geometric map having geometric lane boundaries;
• applying, by the central computing unit, a grid with grid cells of a specified size to the geometric map;
• collecting, by the central computing unit, fleet data from vehicles of a vehicle fleet, wherein the fleet data comprises position sequences covered by the vehicles of the vehicle fleet;
• determining, by the central computing unit, vehicle orientations of the vehicles at positions of the grid cells from the collected position sequences;
• discretizing, by the central computing unit, the determined vehicle orientations;
• generating, by the central computing unit, a histogram for each individual grid cell position for the discretized vehicle orientations determined at the position of a respective grid cell;
• selecting, by the central computing unit, a map section having a specified amount of grid cells;
• determining, by the central computing unit, the lane routes on the map section by a learning-based method from the histograms created for the grid cells of the map section and the geometric lane boundaries on the map section;
• supplying, by the central computing unit, the determined lane routes to a trajectory planning module of one of the vehicles of the vehicle fleet, wherein the one of the vehicles of the vehicle fleet is an autonomously driving vehicle;
• and
• autonomously operating the one of the vehicles along a trajectory defined by the trajectory planning module along one of the determined lane routes.