A method of sensing an environment of a vehicle, the method comprising the steps of: controlling a vehicle lane position based upon a first signal from a first sensor; evaluating whether a desired lane marker confidence from the first sensor is available; if the first sensor cannot provide the desired lane marker confidence: switching from the first sensor to a second sensor; characterized in that the switching step includes: applying a control algorithm using data from a second signal from the second sensor to determine the desired lane marker confidence from the second sensor; evaluating whether the desired lane marker confidence from the second sensor is available; applying a filter to the data to identify lane marker edges, and converting the lane marker edges to a coordinate system; determining whether the lane marker edges in the coordinate system are similar to previously provided data from the first sensor; and controlling the vehicle lane position based upon the second signal from the second sensor if the second sensor can provide the desired lane marker confidence; if the lane marker edges in the coordinate system are similar to previously provided data from the first sensor; and if a predetermined time has not been exceeded. controlling a vehicle lane position based upon a first signal from a first sensor; evaluating whether a desired lane marker confidence from the first sensor is available; if the first sensor cannot provide the desired lane marker confidence: switching from the first sensor to a second sensor; characterized in that the switching step includes: applying a control algorithm using data from a second signal from the second sensor to determine the desired lane marker confidence from the second sensor; evaluating whether the desired lane marker confidence from the second sensor is available; applying a filter to the data to identify lane marker edges, and converting the lane marker edges to a coordinate system; determining whether the lane marker edges in the coordinate system are similar to previously provided data from the first sensor; and controlling the vehicle lane position based upon the second signal from the second sensor if the second sensor can provide the desired lane marker confidence; if the lane marker edges in the coordinate system are similar to previously provided data from the first sensor; and if a predetermined time has not been exceeded. switching from the first sensor to a second sensor; characterized in that the switching step includes: applying a control algorithm using data from a second signal from the second sensor to determine the desired lane marker confidence from the second sensor; evaluating whether the desired lane marker confidence from the second sensor is available; applying a filter to the data to identify lane marker edges, and converting the lane marker edges to a coordinate system; determining whether the lane marker edges in the coordinate system are similar to previously provided data from the first sensor; and controlling the vehicle lane position based upon the second signal from the second sensor if the second sensor can provide the desired lane marker confidence; if the lane marker edges in the coordinate system are similar to previously provided data from the first sensor; and if a predetermined time has not been exceeded. applying a control algorithm using data from a second signal from the second sensor to determine the desired lane marker confidence from the second sensor; evaluating whether the desired lane marker confidence from the second sensor is available; applying a filter to the data to identify lane marker edges, and converting the lane marker edges to a coordinate system; determining whether the lane marker edges in the coordinate system are similar to previously provided data from the first sensor; and controlling the vehicle lane position based upon the second signal from the second sensor if the second sensor can provide the desired lane marker confidence; if the lane marker edges in the coordinate system are similar to previously provided data from the first sensor; and if a predetermined time has not been exceeded.