Method for determining one or more lanes of a road in an environment of a vehicle, the method comprising: receiving a plurality of objects in the environment of the vehicle; receiving a plurality of trajectories for the plurality of objects in the environment of the vehicle; estimating a shape of the road based on the plurality of trajectories for the plurality of objects; wherein estimating the shape of the road based on the plurality of trajectories comprises: determining a number of segments for the plurality of trajectories; clustering the plurality of the trajectories in each of the one or more segments according to one or more shapes of trajectories of the plurality of trajectories; determining a cluster of trajectories of the clustered plurality of trajectories in each of the one or more segments, wherein the cluster of trajectories comprises a majority of trajectories having an equal or similar shape in a particular segment of the one or more segments; and estimating the shape of the road based on the determined cluster of trajectories in each of the one or more segments; wherein the shape of the road is estimated based on a multi-curve fitting function that describes a curve that best fits all trajectories included in the determined cluster of trajectories of all segments; determining the one or more lanes of the road using the estimated shape of the road and the plurality of objects and/or the plurality of trajectories of the plurality of objects; wherein determining one or more lanes of the road using the estimated shape of the road and the plurality of objects and/or the plurality of trajectories of the plurality of objects comprises: generating a candidate lane for each trajectory of the plurality of trajectories, wherein a shape of the candidate lane is similar or equal to the estimated shape of the road, wherein a center line of the candidate lane is similar to the curve representing the road, and wherein each trajectory of the plurality of trajectories is in the center or within a predefined range around the center of a generated candidate lane at least in a segment where the shape of the trajectory is similar or equal to the estimated shape of the road; determining one or more sets of lanes from the generated candidate lanes, wherein a set of lanes comprises only lanes from the generated candidate lanes which are distinct to each other; determining a score value for each set of lanes of the determined one or more sets of lanes by counting each trajectory that is in the center or within a predefined range around the center of a lane that is part of the set; and determining the one or more lanes of the road based on the set of lanes which has the largest score value. receiving a plurality of objects in the environment of the vehicle; receiving a plurality of trajectories for the plurality of objects in the environment of the vehicle; estimating a shape of the road based on the plurality of trajectories for the plurality of objects; wherein estimating the shape of the road based on the plurality of trajectories comprises: determining a number of segments for the plurality of trajectories; clustering the plurality of the trajectories in each of the one or more segments according to one or more shapes of trajectories of the plurality of trajectories; determining a cluster of trajectories of the clustered plurality of trajectories in each of the one or more segments, wherein the cluster of trajectories comprises a majority of trajectories having an equal or similar shape in a particular segment of the one or more segments; and estimating the shape of the road based on the determined cluster of trajectories in each of the one or more segments; wherein the shape of the road is estimated based on a multi-curve fitting function that describes a curve that best fits all trajectories included in the determined cluster of trajectories of all segments; determining the one or more lanes of the road using the estimated shape of the road and the plurality of objects and/or the plurality of trajectories of the plurality of objects; generating a candidate lane for each trajectory of the plurality of trajectories, wherein a shape of the candidate lane is similar or equal to the estimated shape of the road, wherein a center line of the candidate lane is similar to the curve representing the road, and wherein each trajectory of the plurality of trajectories is in the center or within a predefined range around the center of a generated candidate lane at least in a segment where the shape of the trajectory is similar or equal to the estimated shape of the road; determining one or more sets of lanes from the generated candidate lanes, wherein a set of lanes comprises only lanes from the generated candidate lanes which are distinct to each other; determining a score value for each set of lanes of the determined one or more sets of lanes by counting each trajectory that is in the center or within a predefined range around the center of a lane that is part of the set; and determining the one or more lanes of the road based on the set of lanes which has the largest score value.