Abstract
The determination of the vehicle position at the lane level is an important challenge in road navigation that can bring new possibilities for collision avoidance or advanced driver assistance systems. An interesting approach of this problem is the combination of global navigation satellite system (GNSS) with enhanced maps that include precise lane information. This paper presents a novel method for map-matching and positioning at the lane level based on the integration of GNSS and dead-reckoning measurements with a novel highly accurate road description. Experimental results in complex scenarios with multiple lanes show the suitability of the proposed method.