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Huang et al. Complex Eng Syst 2023;3:2 I http://dx.doi.org/10.20517/ces.2022.43 Page 13 of 20
(a) Original lane data (b) Cluster division of lane (c) Cluster division with class
Figure 5. Extract lane points.
Figure 6. Curve fitting process.
may be no left turn or right turn on the road. The intersection topology is selected by combining the IDs
assigned to each lane. The algorithm completes the virtual lane lines of the intersection.
