METHOD TO IDENTIFY DRIVEN LANE ON MAP AND IMPROVE VEHICLE POSITION ESTIMATE

摘要

A method for refining a determined location of a vehicle includes estimating a location of the vehicle using a global navigation satellite system, determining a closest mapped road to the estimated location of the vehicle, the closest mapped road having a plurality of lanes, determining a first lane in the plurality of lanes of the closest mapped road in which the vehicle is located, and refining the estimated location of the vehicle based upon a location of the first lane in the plurality of lanes of the closest mapped road.