Construction of lane line maps using probability density bitmaps

A method includes receiving sensor data from a plurality of sensors of a plurality of vehicles. The sensor data includes vehicle GPS data and sensed lane line data of the roadway. The method further includes creating a plurality of multi-layer bitmaps for each of the plurality of vehicles using the sensor data; fusing the plurality of multi-layer bitmaps for each of the plurality of vehicles to create a fused multi-layer bitmap; creating a plurality of multi-layer probability density bitmaps using the fused multi-layer bitmaps; extracting lane line data from the plurality of multi-layer probability density bitmaps; and creating a high definition (HD) map of the road using the multi-layer probability density bitmaps and the lane line data extracted from the plurality of multi-layer probability density bitmaps. 一种方法，包括从多个交通工具的多个传感器接收传感器数据。传感器数据包括交通工具GPS数据和道路的感测车道线数据。该方法还包括：使用传感器数据为多个交通工具中的每个交通工具创建多个多层位图；将多个交通工具中的每个交通工具的多个多层位图融合以创建融合的多层位图；使用融合的多层位图创建多个多层概率密度位图；从多个多层概率密度位图中提取车道线数据；以及使用多层概率密度位图和从多个多层概率密度位图提取的车道线数据