Vehicle lane determination method, computer program product, and apparatus

A non-transitory computer readable medium comprising instructions including:

• determining radar data acquired at an ego vehicle;
• determining a current and upcoming road curvature;
• extracting characteristics from the radar data associated with other vehicles, wherein:
• the extracted characteristics include positional information for the other vehicles relative to the ego vehicle,
• extracting includes selecting a road coordinate system based at least in part on the determined current and upcoming road curvature, and
• the positional information includes a representation in the selected road coordinate system;
• and
• determining a lane of the ego vehicle based on the extracted characteristics meeting a set of lane determination conditions.

A vehicle comprising:

• an Advanced Driver Assistance System (ADAS) configured to implement one or more functions;
• and
• a processing apparatus configured to:
• determine radar data acquired at the vehicle;
• determine a current and upcoming road curvature;
• extract characteristics from the radar data associated with other vehicles, wherein:
• the extracted characteristics include positional information for the other vehicles relative to the vehicle,
• extracting includes selecting a road coordinate system based at least in part on the determined current and upcoming road curvature, and
• the positional information includes a representation in the selected road coordinate system;
• determine a lane of the vehicle based on the extracted characteristics meeting a set of lane determination conditions;
• and
• provide the determined lane to the ADAS for use in the one or more functions.