LANE-LEVEL MAP MATCHING

The present disclosure relates to a method for lane-level map matching (100) for a vehicle. The method comprises receiving vehicle data (101) comprising a geographical position of the vehicle, a heading of the vehicle, and a speed of the vehicle. The method further comprises receiving sensor data (102) from a perception system of the vehicle. The sensor data comprising information about a position of at least one road reference in a surrounding environment of the vehicle. Furthermore the method comprises receiving map data (103) comprising a lane geometry of the surrounding environment of the vehicle, the lane geometry comprising a set of candidate lanes. Next, the method comprises forming a state space model (104) comprising a set of states (x1, x2, x3), wherein each state of the set of states represents a candidate lane of the set of candidate lanes, and defining a cost (105) for going from each state to every other state of the set of states based on the received vehicle data and the received sensor data. Furthermore, the method comprises determining a probable path (106) for the vehicle based on the formed state space model and the defined costs.