Lane mapping in a vehicle-to-vehicle communication system

A vehicle-to-vehicle (V2V) transceiver comprising:

• a transmit module;
• a receive module;
• a lane map data store comprising lane map data stored in non-transitory memory;
• wherein the lane map data store further comprises:
• (i) a location point store comprising one or more location points, and (ii) a lane records store;
• wherein the location point store comprises a plurality of locations previously contained in V2V messages received or transmitted by the V2V transceiver;
• wherein the lane records store comprises one or more lane records and where each lane record comprises:
• (i) a lane type, and (ii) one or more locations.

A method of generating lane maps comprising:

• generating local location points;
• storing the local location points in a location point store;
• counting the number of times a similar location point is generated, the “local location count;”
• storing the local location count;
• transmitting at least one of the local location points and the local location count;
• receiving a receive record comprising at least one candidate location point and a receive count;
• storing the at least one candidate location point and the receive count;
• comparing the at least one candidate location point to a prior stored location point;
• comparing the receive count to a prior stored location count when the at least one candidate location reasonably matches the prior stored location point;
• updating the prior stored location count if the receive count is greater than the prior stored location count to now equal the receive count.