METHOD AND SYSTEM FOR ESTIMATING A BOUNDARY OF A ROAD TECHNICAL FIELD

The present disclosure relates to a method performed by a boundary estimation system (1) on-board a vehicle for estimating a boundary of a road on which the vehicle is positioned. The road comprises at least a first lane marking (L 1 ) arranged to form a straight and/or curved intermittent or continuous line on a road surface along the road. The boundary estimation system monitors (1001) the surroundings of the vehicle. The boundary estimation system furthermore detects (1002) one or more positions (x n ,y Ln ) of the at least first lane marking, and approximates (1003) a geometrical representation of the at least first lane marking based on one or more of the detected positions of the at least first lane marking. The boundary estimation system further detects (1004) one or more positions (x n ,y Rn ) of a road boundary (R) of the road. Moreover, the boundary estimation system approximates (1006) a relative lateral offset (y LR ) between the geometrical representation of the at least first lane marking and the detected road boundary, and further defines (1007) a fictive outer boundary of at least a section of the road, based on laterally shifting at least a section of the geometrical representation of the at least first lane marking, the relative lateral offset. The disclosure also relates to a boundary estimation system in accordance with the foregoing, and a vehicle at least partly comprising such a boundary estimation system.