The driving lane identification is a submodule within the  Trajectory Generation Module. Its aim is to identify all potential driving lanes within the drivable areas for subsequent trajectory generation.

The figure on the left illustrates the process of indentying the driving Lane waypoints  for the S8 scenario. Notice that we have zoomed in on the trajectory to provide a clearer view of the lane identification process. Refer to the paper for a detailed explanation.

Additionally, this section provides lane identification visualization results for all scenarios, including S1, S2, S3, ..., and S8.