Patent ID: 8751157

Claim:
A method for finding a position of an automotive vehicle on a carriageway, comprising: finding the position of the vehicle with a first precision using outputs from a satellite signal sensor; obtaining data relating to a first vehicle environment for the position found with the first precision, from a digital map; obtaining data relating to lane markings in a second vehicle environment, with a line recognition sensor; obtaining data relating to proper motion of the vehicle, with a driving dynamics sensor; obtaining data relating to objects in a third vehicle environment, with an ambient sensor, the data relating to objects pertaining to a current carriageway situation; finding the position of the vehicle with at least lane-specific precision on the carriageway, by combining: the data relating to the first vehicle environment, obtained from the digital map and the data relating to lane markings in the second vehicle environment with the data relating to proper motion of the vehicle and the data relating to objects in the third vehicle environment; obtaining data relating to a lane width, from the data relating to lane markings; obtaining data relating to a carriageway width from the data relating to objects; and determining and outputting information regarding current number of lanes on the carriageway, from the data relating to the lane width and the data relating to the carriageway width.