The present disclosure relates to a method performed by a vehicle pose assessment system (1) for supporting determining a pose of a vehicle (2) in view of a digital map (22). The vehicle pose assessment system predicts (1001) a pose of the vehicle based on...

The method involves obtaining data related to two vehicle environment regions from sensors. Lanes are determined based on the obtained data. Weight values associated with the determined lanes are determined. A resulting plausible lane is determined accordi...