LABELING SCHEME FOR LABELING AND GENERATING HIGH-DEFINITION MAP BASED ON TRAJECTORIES DRIVEN BY VEHICLES

According to one embodiment, perception data describing a set of trajectories driven by a number of vehicles is received at a server from the vehicles or data collection agents over a network. The vehicles were driving through a road segment of a road over a period of time and their driving trajectories were captured. A trajectory analysis is the performed on the perception data using a set of rules to determine driving behaviors of the corresponding vehicles. A lane configuration of the road segment is then determined based on the driving behaviors. A map segment of a navigation map is then updated based on the lane configuration of one or more lanes within the road segment. A higher definition map can be generated based on the updates of the navigation map and the lane configuration, which can be utilized to autonomously drive an ADV subsequently.