Lane-Level Road Map Construction considering Vehicle Lane-Changing Behavior

Figure 12

Fitting results of trajectory distribution on road cross-section based on WCGMM: (a) condition of one lane, (b) condition of two lanes, (c) condition of three lanes, (d) condition of four lanes, (e) condition of five lanes, and (f) condition of six lanes.

(a)

(b)

(c)

(d)

(e)

(f)