Abstract: An apparatus includes a sensor, a navigation circuit and a control circuit. The sensor may be configured to generate surrounding road information of a road. The road may have a plurality of available lanes. The navigation circuit may be configured to determine a current position of the apparatus on the road. The control circuit may be configured to (i) access map data that identifies a number of the available lanes in the road proximate the position, (ii) determine a current lane among the available lanes that the apparatus is within based on all of the position, the surrounding road information and the map data and (iii) generate feedback data based on both the position and the current lane. The navigation device may be further configured to adjust the current position to a center of the current lane in response to the feedback data.

Abstract: An apparatus includes a sensor, a navigation circuit and a control circuit. The sensor may be configured to generate surrounding road information of a road. The road may have a plurality of available lanes. The navigation circuit may be configured to determine a current position of the apparatus on the road. The control circuit may be configured to (i) access map data that identifies a number of the available lanes in the road proximate the position, (ii) determine a current lane among the available lanes that the apparatus is within based on all of the position, the surrounding road information and the map data and (iii) generate feedback data based on both the position and the current lane. The navigation device may be further configured to adjust the current position to a center of the current lane in response to the feedback data.