APPARATUS, METHOD, AND COMPUTER PROGRAM FOR GENERATING LANE NETWORK

An apparatus for generating a lane network includes a processor configured to calculate, for each of individual points in a predetermined region connecting an entry lane and an exit lane, a probability distribution indicating a probability that the point lies on a standard trajectory, based on trajectories of one or more vehicles that traveled through the region, generate two virtual borders each connecting the positions of respective edges of the entry lane and the exit lane, set, of the individual points in the predetermined region, at least two points that lie between the two virtual borders and at which the variance of the probability distribution is not greater than a predetermined variance threshold, as control points, and generate a Bézier curve, based on the at least two control points, as a line connecting two lanes in the predetermined region in a lane network.