A cooperative vehicle application for dynamic lane-level model generation

Lane-level roadway modeling is a key enabling technology in the deployment of automated vehicles and connected vehicle systems. A variety of applications for these systems would be enabled by the availability of up-to-date lane-level maps; however, current mapping solutions lack this resolution and are not dynamically updated. This paper will present a method for passively collecting vehicle basic safety messages (BSM), as defined by SAE J2735, through roadside equipment (RSE), and a set of learning algorithms that utilize the information contained in the BSM to produce a local map of the roadway at an accuracy level of individual lanes. This map can then be transmitted back to vehicles in the local area as a set of sparse GPS waypoints.