Abstract: Method for estimating a vertical offset of road segment for vehicle is disclosed. The method includes tracking road reference on road segment at first moment in time from first observation point in order to form first representation. Method includes obtaining vehicle movement data over time period extending from first moment in time to second moment in time, tracking road reference on road segment at second moment in time from second observation point in order to form second representation.

Abstract: The present disclosure relates to methods and control devices for providing a road model of a portion of a surrounding environment of a vehicle. More specifically, the present disclosure relates to utilizing stored reference data in the form of a lateral offset of a road reference (e.g. lane marker) in relation to a road boundary in order to either verify a local measurement of the lateral offset or to control a driver-assistance or autonomous driving feature based on the stored reference data. The present disclosure also relates to a method for providing verification data for road model estimations.

Abstract: Method for estimating a vertical offset of road segment for vehicle is disclosed. The method includes tracking road reference on road segment at first moment in time from first observation point in order to form first representation. Method includes obtaining vehicle movement data over time period extending from first moment in time to second moment in time, tracking road reference on road segment at second moment in time from second observation point in order to form second representation.

Abstract: A method for determining a road boundary representation for a vehicle positioned on a road is disclosed. The method comprises receiving sensor data comprising information about a surrounding environment of the vehicle, forming a reference representation model for each of a plurality of road references based on the received sensor data, wherein each reference representation model is indicative of a road reference geometry and comprises at least one reference component, each reference component being associated with a component class, assigning a weight to each reference component, forming a master reference model indicative of the road boundary representation, the master reference model comprising a corresponding master component for each component class, updating the master reference model by updating each master component based on the reference components and the assigned weights within a common component class.