System and method for vehicle lane assignment

A lane assignment method for a vehicle, the method comprising:

• identifying lane boundaries of a road being traversed by the vehicle;
• determining that the lane boundaries form two or more lanes;
• determining center-lines for the two or more lanes using lane boundaries;
• determining lane widths the two or more lanes using lane boundaries;
• calculating a first probability that the vehicle is within a first lane of the two or more lanes using the center-line and the lane width corresponding to the first lane;
• determining whether the first probability is greater than a threshold;
• and
• in response to a determination that the first probability is greater than the threshold, assigning the vehicle to the first lane.

A lane assignment apparatus for vehicle, the apparatus comprising:

• a processor;
• and
• a memory including instructions that, when executed by the processor, cause the processor to:
• identify one or more lanes of a road;
• determine a center-line per lane of the one or more lanes;
• determine a lane width per lane of the one or more lanes;
• calculate a first probability that the vehicle is within a first lane of the one or more lanes using the center-line and the lane width corresponding to the first lane;
• determine whether the first probability is greater than a hysteresis threshold;
• in response to a determination that the first probability is greater than the hysteresis threshold, assign the vehicle to the first lane;
• and
• selectively adjusting the hysteresis threshold based on a comparison between the first probability, a maximum probability that the vehicle is in the first lane, and a minimum probability that the vehicle is in the first lane.