VEHICLE LANE DETERMINATION METHOD, COMPUTER PROGRAM PRODUCT, AND APPARATUS

Vehicle lane determination method in which radar data acquired at an ego vehicle is determined. Characteristics are extracted from the radar data associated with other vehicles, wherein the extracted characteristics include positional information for the other vehicles relative to the ego vehicle, and the step of extracting comprises selecting a road coordinate system and the positional information comprises a representation in the selected road coordinate system. The lane of the ego vehicle is determined based on the extracted characteristics meeting a set of lane determination conditions.