A system comprising: one or more processors; and one or more non-transitory computer-readable media storing sign information relating a sign type of a traffic sign to a distance to a road edge for each of a plurality of sign types; the one or more non-transitory computer-readable media further including executable instructions, which, when executed by the one or more processors, configure the one or more processors to: - receive at least one image from at least one sensor; and - recognize a sign type of a traffic sign and a location of the traffic sign relative to a vehicle's coordinate systemin the at least one image; wherein said sign information includes the lateral distance of each sign type from the road edge and that the one or more processors are further configured to: - determine a likely location of a road edge in relation to the vehicle based on o the recognized sign type and the lateral distance of the recognized sign type from the road edge according to the stored sign information; and o the estimated distance of the traffic sign from the vehicle; wherein the one or more processors are further configured to determine the likely location of the road edge by: - determining, based at least partially on the recognized sign type and the sign information, a target search area of the at least one image where the road edge is likely to be located in the at least one image, wherein the target area is a subset of a total image area of the at least one image; - searching the target search area of the at least one image for one or more features indicative of the road edge; and determining the likely location of the road edge based at least partially on the one or more features. one or more processors; and one or more non-transitory computer-readable media storing sign information relating a sign type of a traffic sign to a distance to a road edge for each of a plurality of sign types; the one or more non-transitory computer-readable media further including executable instructions, which, when executed by the one or more processors, configure the one or more processors to: - receive at least one image from at least one sensor; and - recognize a sign type of a traffic sign and a location of the traffic sign relative to a vehicle's coordinate systemin the at least one image; wherein said sign information includes the lateral distance of each sign type from the road edge and that the one or more processors are further configured to: - determine a likely location of a road edge in relation to the vehicle based on o the recognized sign type and the lateral distance of the recognized sign type from the road edge according to the stored sign information; and o the estimated distance of the traffic sign from the vehicle; - receive at least one image from at least one sensor; and - recognize a sign type of a traffic sign and a location of the traffic sign relative to a vehicle's coordinate systemin the at least one image; - determine a likely location of a road edge in relation to the vehicle based on o the recognized sign type and the lateral distance of the recognized sign type from the road edge according to the stored sign information; and o the estimated distance of the traffic sign from the vehicle; o the recognized sign type and the lateral distance of the recognized sign type from the road edge according to the stored sign information; and o the estimated distance of the traffic sign from the vehicle; wherein the one or more processors are further configured to determine the likely location of the road edge by: - determining, based at least partially on the recognized sign type and the sign information, a target search area of the at least one image where the road edge is likely to be located in the at least one image, wherein the target area is a subset of a total image area of the at least one image; - searching the target search area of the at least one image for one or more features indicative of the road edge; and - determining, based at least partially on the recognized sign type and the sign information, a target search area of the at least one image where the road edge is likely to be located in the at least one image, wherein the target area is a subset of a total image area of the at least one image; - searching the target search area of the at least one image for one or more features indicative of the road edge; and determining the likely location of the road edge based at least partially on the one or more features.