System and method for generating a semantic map for a road

A method comprising:

• receiving sensor data related to a road segment, the sensor data including a plurality of trace points and a plurality of key points associated with the plurality of trace points, the plurality of trace points being related to positions of a vehicle in the road segment, the plurality of key points being related to lane boundaries;
• generating a plurality of hypothetical lane configurations;
• generating a plurality of scores based on how accurately the plurality of key points match the plurality of hypothetical lane configurations;
• selecting one hypothetical lane configuration from the plurality of hypothetical lane configurations based on one score of the plurality of scores, the one score indicating most accurate match;
• and
• determining characteristics of the road segment based on the one hypothetical lane configuration.

A non-transitory computer-readable medium including instructions that when executed by a processor cause the processor to:

• receive sensor data related to a road segment, the sensor data including a plurality of trace points and a plurality of key points associated with the plurality of trace points, the plurality of trace points being related to positions of a vehicle in the road segment, the plurality of key points being related to lane boundaries;
• generate a plurality of hypothetical lane configurations;
• generate a plurality of scores based on how accurately the plurality of key points match the plurality of hypothetical lane configurations;
• select one hypothetical lane configuration from the plurality of hypothetical lane configurations based on one score of the plurality of scores, the one score indicating most accurate match;
• and
• determine characteristics of the road segment based on the one hypothetical lane configuration.