{
  "$type": "site.standard.document",
  "description": "The present disclosure relates to a method, system, a vehicle and a computer-readable storage medium for determining a state of a vehicle on a road portion having two or more lanes. The vehicle comprises an Automated Driving System, ADS, feature. The method comprises obtaining map data associated…",
  "path": "/patents/1398710",
  "publishedAt": "2026-01-21T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W10/04",
    "ZENSEACT AB [SE]"
  ],
  "textContent": "The present disclosure relates to a method, system, a vehicle and a computer-readable storage medium for determining a state of a vehicle on a road portion having two or more lanes. The vehicle comprises an Automated Driving System, ADS, feature. The method comprises obtaining map data associated with the road portion and further obtaining positioning data indicating a position of the vehicle on the road and obtaining sensor data from a sensor system of the vehicle. The method further comprises initializing a filter per lane of the road portion based on the obtained map data, the obtained positioning data, and the obtained sensor data, wherein each filter indicates an estimated state of the vehicle on the road portion. Further, the method comprises selecting one of the initialized filters by means of a trained machine-learning algorithm configured to use the obtained map data, the obtained positioning data, the obtained sensor data, and each estimated state as indicated by each filter as input and to output a single selected initialized filter indicative of a current state of the vehicle on the road portion. In various aspects and embodiments the method further comprises controlling the ADS feature of the vehicle based on the selected initialized filter.",
  "title": "HYPOTHESIS INFERENCE FOR VEHICLES"
}