METHOD AND APPARATUS FOR DETERMINING LANE LEVEL LOCALIZATION OF A VEHICLE WITH GLOBAL COORDINATES

Embodiments relate to a method and apparatus for determining lane level localization of a vehicle with global coordinates. An automotive vehicle includes a vehicle navigation system, a database comprising standard-definition map data corresponding to road level latitude and longitude coordinates for a plurality of roadway features, at least one image sensor, and a processor in communication with the vehicle navigation system, the database, and the at least one image sensor. The processor is configured to determine an initial location of the vehicle, estimate a current location of the vehicle based on a dead reckoning process, detect, based on image data from the at least one image sensor, a lateral position of the vehicle within a lane of a road, and update the current location of the vehicle based on a difference between the estimated current location and the lateral position of the vehicle within the lane.