Distinguishing lane markings for a vehicle to follow

The invention extends to methods, systems, and computer program products for distinguishing lane markings, 410, 412, 420 etc., for a vehicle to follow. Automated driving or driving assist vehicles utilize sensors to help the vehicle 450 navigate on roadways or in parking areas. The sensors can utilize, for example, the painted surface markings to help guide the vehicle on its path. The invention uses sensor data to identify road surface markings. When ambiguity is detected between road surface markings, decision making algorithms identify the correct set of markings for a vehicle to abide by. This could be done on the basis of intensity of colour, reflectivity, cracked paint etc.. The sensors could also identify the location and trajectory of neighboring vehicles 464 to increase confidence with respect to the identified road-surface markings. Different types of sensor could be used (e.g. camera 452, LIDAR 454 and radar 456).