LANE DETECTION METHOD AND SYSTEM FOR A VEHICLE

The present disclosure is directed toward a lane detection method. The method includes: acquiring road information for a section of a road upon which a subject vehicle is traveling, determining whether an adjacent vehicle is traveling in vicinity of the subject vehicle, defining, in response to determining the presence of the adjacent vehicle, a vehicle trajectory based on movement of the adjacent vehicle and the road information, detecting one or more lane markings along the road upon which the subject vehicle is traveling, defining a lane marking trajectory in response to detecting the one or more lane markings, calculating a lane accuracy for each estimated lane trajectory that includes the vehicle trajectory, the lane marking trajectory, or a combination thereof, and selecting a drive lane from among the estimated lane trajectories based on the lane accuracy.