Tracking lane changes based on expected and measured vehicle dynamics

A non-transitory machine-readable medium comprising instructions that, when executed by a processor, cause the processor to:

• generate an expected vehicle dynamic parameter value for a road segment based on an extracted feature of the road segment from map data;
• detect a potential lane change by comparing the expected vehicle dynamic parameter value to a measured vehicle dynamic parameter value of a vehicle traveling along the road segment;
• verify a lane change by extracting vehicle sensor output indicative of lane change behavior;
• and
• responsive to a verified lane change, track a lane-specific location of the vehicle.

A method, comprising:

• generating an expected vehicle dynamic parameter value for a road segment based on an extracted feature of the road segment from map data;
• detecting a potential lane change by comparing the expected vehicle dynamic parameter value to a measured vehicle dynamic parameter value of a vehicle traveling along the road segment;
• verifying a lane change by extracting vehicle sensor output indicative of lane change behavior;
• and
• responsive to a verified lane change, tracking a lane-specific location of the vehicle.