Virtual lane estimation using a recursive self-organizing map

A method for virtual lane estimation comprising:

• reading a road map that corresponds to a portion of a road ahead of a vehicle;
• initializing a recursive self-organizing map as a plurality of points arranged as a two-dimensional grid aligned with the road map using a computer of the vehicle;
• observing a plurality of trajectories of a plurality of neighboring vehicles that traverse the portion of the road using a sensor of the vehicle;
• training the plurality of points in the recursive self-organizing map in response to the plurality of trajectories;
• generating a directed graph that contains one or more virtual lanes through the road map in response to the points trained to the plurality of trajectories;
• and
• controlling a power plant to navigate the vehicle through the portion of the road in response to the one or more virtual lanes in the directed graph.

A vehicle comprising:

• a memory device configured to store a road map that corresponds to a portion of a road ahead of the vehicle;
• a sensor configured to observe a plurality of trajectories of a plurality of neighboring vehicles that traverse the portion of the road;
• a computer configured to initialize a recursive self-organizing map as a plurality of points arranged as a two-dimensional grid aligned with the road map, train the plurality of points in the recursive self-organizing map in response to the plurality of trajectories, generate a directed graph that contains one or more virtual lanes through the road map in response to the points trained to the plurality of trajectories, and generate a control signal that controls navigation of the vehicle through the portion of the road in response to the one or more virtual lanes in the directed graph;
• and
• a power plant configured to propel the vehicle in response to the control signal.