METHOD AND SYSTEM FOR ESTIMATING ROAD LANE GEOMETRY

The invention relates to a method for estimating road lane geometry (14). A camera lane estimation comprising at least one camera-estimated lane segment (6), based on camera (3) detection of road markings is provided. Further, a leading vehicle lane estimation comprising at least one leading-vehicle-estimated lane segment (11), based on traces (10) of at least one leading vehicle (9) is provided. Then, the at least one camera-estimated lane segment (6) and the at least one leading-vehicle-estimated lane segment (11) are stitched together to obtain the estimated road lane geometry (14). Further, a system (2) for estimating road lane geometry (14) and a vehicle (1) comprising such a system (2) are provided.