Travel lane identification without road curvature data

A system for identifying a current travel lane for an ego vehicle on a road, the system comprising:

• a sensor system including one or more sensors configured to:
• acquire sensor data of an external environment of the ego vehicle;
• and
• acquire position data of a dynamic leading objects in the external environment over time;
• and
• a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising:
• detect a dynamic leading object in an external environment of the ego vehicle;
• track a path of the dynamic leading object using acquired position data of the dynamic leading object acquired over time;
• determining a current position of the ego vehicle;
• determine whether the current position of the ego vehicle is at substantially the same longitudinal position as a previous position of the dynamic leading object based on the acquired position data of the dynamic leading object;
• and
• responsive to determining that the current position of the ego vehicle is at substantially the same longitudinal position as a previous position of the dynamic leading object, determining a lateral offset between the current position of the ego vehicle and the previous position of the dynamic leading object.

A method of identifying a current travel lane for an ego vehicle traveling on a road, the method comprising:

• acquiring position data of a dynamic surrounding object in an external environment of the ego vehicle over time;
• determining whether a current position of the ego vehicle is at substantially the same longitudinal position as a previous position of the dynamic surrounding object based at least in part on the acquired position data of the dynamic surrounding object;
• and
• responsive to determining that the current position of the ego vehicle is at substantially the same longitudinal position as a previous position of the dynamic surrounding object, determining a lateral offset between the current position of the ego vehicle and the previous position of the dynamic surrounding object.