Control system and control method for determining a lane

Control system adapted and determined for use in a motor vehicle to identify at least one of road boundaries and road markings based on environmental data obtained by at least one environmental sensor associated with the motor vehicle, wherein the at least one environmental sensor is adapted to provide the environmental data, which represents the area in front of the motor vehicle, to an electronic control of the control system, and wherein the control system is at least adapted and determined to

• capture at least one of road boundaries and road markings with the at least one environmental sensor (S105),
• determine a respective trajectory from the captured road boundaries and/or road markings (S110),
• form pairs from the determined trajectories (S115), wherein each pair comprises two trajectories respectively,
• determine sampling points at predetermined distances for each pair of first and second trajectories (S120),
• determine distances perpendicular to a course of the first trajectory from the determined sampling points to the second trajectory (S125), and calculate a length of a section along the course of the first trajectory, for which length the determined distances are within a predetermined value range,
• determine distances perpendicular to a course of the second trajectory from the determined sampling points to the first trajectory (S125), and calculate a length of a section along the course of the second trajectory, for which length the determined distances are within the predetermined value range, and
• select a set of pairs of trajectories based on a criterion for pairing (S130) to determine at least one lane for the motor vehicle based on this set, wherein the criterion for pairing is one of:
• the two calculated lengths of the sections of the first and second trajectory of each pair, or
• a maximum which is determined from the two calculated lengths of the sections of the first and the second trajectory of each pair, or
• at least one of a mean value and a standard deviation which is determined from the two lengths of the sections of the first and the second trajectory of each pair.