REAL-TIME MAP GENERATION SCHEME FOR AUTONOMOUS VEHICLES BASED ON PRIOR DRIVING TRAJECTORIES

In one embodiment, a real time map can be generated by an autonomous driving vehicle (ADV) based on a navigation guideline for a lane and associated lane boundaries for the lane on a particular segment of a road. When travelling in the lane on the road segment, the ADV can use the navigation guideline as a reference line and use the lane boundaries as boundaries. The navigation guideline can be derived from manual driving path data collected by a manned vehicle that has travelled multiple times on the particular segment of the road.