SYSTEMS AND METHODS FOR DETECTING ROADWAY LANE BOUNDARIES

Systems and methods for detecting roadway lane boundaries are disclosed herein. One embodiment receives image data of a portion of a roadway; receives historical vehicle trajectory data for the portion of the roadway; generates, from the historical vehicle trajectory data, a heatmap indicating, for a given pixel in the heatmap, an extent to which the given pixel coincides spatially with vehicle trajectories in the historical vehicle trajectory data; and projects the heatmap onto the image data to generate a composite image that is used in training a neural network to detect roadway lane boundaries, the projected heatmap acting as supervisory data. The trained neural network is deployed in a vehicle to generate and save map data including detected roadway lane boundaries for use by other vehicles or to control operation of the vehicle itself based, at least in part, on roadway lane boundaries detected by the trained neural network.