Mountain climbing algorithm for constructing lane line map

A method of creating a high definition (HD) map of roads includes receiving a multi-layer probability density bitmap. The multi-layer probability density bitmap represents a plurality of lane lines of a roadway sensed by a plurality of sensors of a plurality of vehicles. The multilayer probability density bitmap includes a plurality of points. The method further includes recursively performing a hill-climbing search using the multi-layer probability density bitmap to create a plurality of lines. In addition, the method includes creating an HD map of the road using the plurality of lines determined by the hill-climbing search. 一种创建道路的高清晰度(HD)地图的方法，包括接收多层概率密度位图。多层概率密度位图表示由多个车辆的多个传感器感测的道路的多条车道线。多层概率密度位图包括多个点。该方法还包括使用多层概率密度位图递归地进行爬山搜索来创建多条线。另外，该方法包括使用由爬山搜索确定的多条线来创建道路的HD地图。