公开(公告)号：US20210291878A1

公开(公告)日：2021-09-23

申请号：US17339016

申请日：2021-06-04

Applicant: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.

Inventor： YANG LIU ,  SHIYU SONG

IPC: B60W60/00

Abstract: A method and apparatus for annotating a virtual lane at a crossing is provided, which relates to the field of intelligent transportation, and specifically includes: calculating a virtual connecting probability of various lanes that do not connected to each other at the crossing based on driving trajectory data of a vehicles that passing through the crossing within a detection time, and generating the virtual lane at the crossing for two disconnected lanes whose virtual connecting probability is greater than a threshold, and annotating the virtual lane on a map. In this process, the virtual lane at the crossing can be automatically generated according to the driving trajectory data of the vehicles passing through the crossing, and because the driving trajectory data of the vehicles passing through the crossing is real trajectory data, which is more in conformity with actual driving rules of the vehicles, and has a higher annotation accuracy.