A method of assisting a host vehicle in traversing a vehicle transportation network by using generated projected vehicle information, the method comprising: receiving , at a host vehicle , remote vehicle spatial state information including spatial coordinates for a remote vehicle ; identifying vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle spatial state information, wherein the portion of the vehicle transportation network includes a current lane in which the remote vehicle is travelling; characterized by generating , by a processor in response to instructions stored on a non-transitory computer readable medium , at least one initial probability value based on a comparison of the remote vehicle spatial state information and the vehicle transportation network information at an initial time point, each initial probability value indicating a likelihood that the remote vehicle will be following a single lane within the vehicle transportation network information; wherein said vehicle transportation network information further includes successor and predecessor lanes to the current lane and adjacent lanes; generating , for a plurality of time points including the initial time point, a deviation of the remote vehicle between adjacent values for the remote vehicle spatial state information relative to the vehicle transportation network information; updating , for each single lane and for each deviation, the likelihood that the remote vehicle will be following the single lane using a new probability value calculated from said deviation for each time point subsequent to the initial time point; generating , for the remote vehicle , a trajectory using the likelihood as updated; and traversing , by the host vehicle , the vehicle transportation network using the vehicle transportation network information and the trajectory for the remote vehicle . receiving , at a host vehicle , remote vehicle spatial state information including spatial coordinates for a remote vehicle ; identifying vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle spatial state information, wherein the portion of the vehicle transportation network includes a current lane in which the remote vehicle is travelling; characterized by generating , by a processor in response to instructions stored on a non-transitory computer readable medium , at least one initial probability value based on a comparison of the remote vehicle spatial state information and the vehicle transportation network information at an initial time point, each initial probability value indicating a likelihood that the remote vehicle will be following a single lane within the vehicle transportation network information; wherein said vehicle transportation network information further includes successor and predecessor lanes to the current lane and adjacent lanes; generating , for a plurality of time points including the initial time point, a deviation of the remote vehicle between adjacent values for the remote vehicle spatial state information relative to the vehicle transportation network information; updating , for each single lane and for each deviation, the likelihood that the remote vehicle will be following the single lane using a new probability value calculated from said deviation for each time point subsequent to the initial time point; generating , for the remote vehicle , a trajectory using the likelihood as updated; and traversing , by the host vehicle , the vehicle transportation network using the vehicle transportation network information and the trajectory for the remote vehicle . <EOS>