A method, apparatus and computer readable storage medium having instructions for determining the lateral position of a vehicle relative to the lanes of a lane

摘要

Method for determining a lateral position of a vehicle relative to the lanes of a lane, comprising the steps of: - detecting (10) lane markings; - determining (11) a starting position and a vehicle movement direction for the vehicle, - determining (12) intersections of a lane Vehicle movement orthogonal line with the detected lane markings, - determining (13) intersections of the orthogonal line with lane markings from a lane geometry map for the starting position determined for the vehicle; and determining (14) the lateral position of the vehicle by comparing the determined intersections; characterized in that when determining (13) the intersections of the orthogonal line with lane markings from the lane geometry map filtering the intersections takes place.