Systems and methods for generating lane-based traffic density maps for autonomous vehicles

At least one non-transitory computer-readable storage medium for generating a traffic density map, the at least one non-transitory computer-readable storage medium comprising a plurality of instructions stored thereon that, in response to being executed, cause a system to:

• receive sensor data from an autonomous vehicle of a road along which the autonomous vehicle is traveling;
• extract one or more objects on the road based on the sensor data, the one or more objects being represented in pixel coordinates;
• transform the pixel coordinates to world coordinates;
• generate a traffic map of the road by assigning the one or more objects to corresponding lanes based on the world coordinates;
• calculate traffic density per lane of the road based on the objects in the traffic map;
• output a traffic density map based on the traffic density, the traffic density map including the traffic map marked with the traffic density per lane;
• and
• control operation of the autonomous vehicle based on the traffic density map.

A method for generating a traffic density map, the method comprising:

• receiving sensor data from an autonomous vehicle of a road along which the autonomous vehicle is traveling;
• extracting one or more objects on the road based on the sensor data, the one or more objects being represented in pixel coordinates;
• transforming the pixel coordinates to world coordinates;
• generating a traffic map of the road by assigning the one or more objects to corresponding lanes based on the world coordinates;
• calculating traffic density per lane of the road based on the objects in the traffic map;
• and
• outputting a traffic density map based on the traffic density, the traffic density map including the traffic map marked with the traffic density per lane;
• and
• controlling operation of the autonomous vehicle based on the traffic density map.