A UNIT AND METHOD FOR ADJUSTING A ROAD BOUNDARY

Example embodiments presented herein are directed towards a method and a unit for adjusting a road boundary of a two dimensional virtual representation of a road for path planning of an autonomous vehicle. The unit comprises a retrieval unit configured to retrieve a measured position and a measured heading angle of the vehicle with respect to a reference. The unit also comprises an uncertainty unit configured to receive as input the measured position, the measured heading angle and map data of the road. The uncertainty unit further configured to determine a position uncertainty value and a heading angle uncertainty value representing an amount of uncertainty in the vehicle's position and heading angle, respectively, on the road based on the input. The unit further comprises an adjustment unit configured to adjust a width and a heading angle of a drivable portion of the two dimensional virtual representation of the road, wherein the adjustment of the width and heading angle is based on the position uncertainty value and the heading angle uncertainty value, respectively.