VEHICLE LOCALIZATION

A vehicle localization system implements the following steps: receiving a predetermined road map; receiving at least one road image; processing the road image to identify therein road structure for matching with corresponding structure of the road map, and determine a vehicle location relative to the identified road structure; and using the determined vehicle location relative to the identified road structure to determine a location of the vehicle on the road map, by matching the road structure identified in the road image with the corresponding road structure of the predetermined road map, the identified road structure comprising: a centre line, wherein determining the vehicle location comprises determining a lateral separation between the vehicle and the centre line; and/or a junction region, wherein determining the vehicle location relative thereto comprises determining a longitudinal separation between the vehicle and the junction region in a direction along a road being travelled by the vehicle.