Abstract: The method (P1) for detecting a boundary (L1, L2, L3) of a traffic lane (VC1, VC2) for a motor vehicle (1) involves: (E1) detecting the boundary by a vehicle environment detection means (3), the boundary being defined by a function, in particular a polynomial function, (E4) determining a plurality of first vectors (MXi) characterizing the boundary on the basis of map data and on the basis of data on the current position and orientation of the vehicle, (E6) determining a plurality of second vectors (Fj) characterizing the boundary, each second vector being determined by an orthogonal projection of a first vector onto said function, and (E8) calculating Mahalanobis distances between each first vector and each second vector.

Abstract: A method controls a motor vehicle equipped with autonomous driving structure, sensors, fusion circuitry, and a road navigation assistance device. The method includes: determining a first value when the estimated trajectory of the vehicle intersects or approaches the central line of a traffic lane, determining a second value when the closest target object on the vehicle's driving line is also detected by a telemetry sensor, determining a third value when a collision will occur by comparing the distance between the closest target object and the vehicle to a predetermined threshold, determining a fourth value when the space between the vehicle and the closest target object is empty based on data from the telemetry sensor, and determining a fifth value when there is congestion on the trajectory of the vehicle, and then determining whether the autonomous driving structure can be activated based on only the first to fifth values.