Abstract: A method and device for determining a current position of a vehicle on a navigation map is disclosed. First, a driven ego-trajectory of the vehicle, which is a sequence of the vehicle's recent positions, is obtained. Based on the last position of the vehicle, a set of candidate road segments on the navigation map is selected. The driven ego-trajectory and each candidate road segment are then processed by an encoding network to generate respective feature representations. A map matching network analyzes these feature representations to determine the similarity between the driven trajectory and each road segment. Using this analysis, the specific road segment on which the vehicle is currently traveling is identified. Finally, information from the map matching 10 network, together with the feature representation of the driven ego-trajectory, is processed through a position prediction network to determine the current position of the vehicle.